WO2020228633A1 - 洗衣机 - Google Patents

洗衣机 Download PDF

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Publication number
WO2020228633A1
WO2020228633A1 PCT/CN2020/089374 CN2020089374W WO2020228633A1 WO 2020228633 A1 WO2020228633 A1 WO 2020228633A1 CN 2020089374 W CN2020089374 W CN 2020089374W WO 2020228633 A1 WO2020228633 A1 WO 2020228633A1
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WO
WIPO (PCT)
Prior art keywords
drum
amount
control unit
water injection
change
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/089374
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English (en)
French (fr)
Inventor
川口智也
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Haier Washing Machine Co Ltd
Haier Smart Home Co Ltd
Aqua Co Ltd
Original Assignee
Qingdao Haier Washing Machine Co Ltd
Haier Smart Home Co Ltd
Aqua Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qingdao Haier Washing Machine Co Ltd, Haier Smart Home Co Ltd, Aqua Co Ltd filed Critical Qingdao Haier Washing Machine Co Ltd
Priority to CN202080034027.6A priority Critical patent/CN113785088B/zh
Publication of WO2020228633A1 publication Critical patent/WO2020228633A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/02—Rotary receptacles, e.g. drums
    • D06F37/04—Rotary receptacles, e.g. drums adapted for rotation or oscillation about a horizontal or inclined axis
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/20—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations
    • D06F37/22—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations in machines with a receptacle rotating or oscillating about a horizontal axis

Definitions

  • the invention relates to a washing machine with a dehydration function.
  • a washing machine with a dehydrating function will generate vibration and noise due to the deviation of the laundry in the drum.
  • the eccentricity of the laundry is large, the eccentricity of the drum during rotation becomes large, and a large torque is required for rotation, so that the dehydration operation cannot be started.
  • Patent Document 1 As a washing machine for solving this problem, as described in Patent Document 1, there is a washing machine that actively eliminates the unbalanced state of the drum by pouring water into a plurality of balancers evenly arranged along the circumferential direction of the drum.
  • the washing machine disclosed in Patent Document 1 has an acceleration sensor mounted on the front end side of the drum, and detects the unbalanced position of the drum based on the horizontal and vertical accelerations detected by the acceleration sensor. Then, water is poured into the balancer according to the unbalanced position, thereby eliminating the unbalanced state of the drum.
  • the unbalanced state of the drum As the unbalanced state of the drum, as shown in FIGS. 14(a) to 14(d), it is considered that there are four unbalanced states.
  • the unbalanced state a is a state where the eccentric position is on the front end side of the drum
  • the unbalanced state b is a state where the eccentric position is near the center of the drum
  • the unbalanced state c is a state where the eccentric position is on the rear end of the drum
  • the unbalanced state d It is a state in which two eccentric positions are positioned so as to face each other on the front end side and the rear end side of the drum (a facing eccentric load state).
  • Patent Document 1 Japanese Patent Application Publication No. 2016-197
  • the present invention is proposed to solve the related problems of the prior art, and can provide a washing machine that can reliably reduce the unbalance of the washing drum during the spin-drying process even if there is a bias of the washing in the washing drum.
  • the washing machine of the present invention is characterized by comprising: a drum with a bottomed cylindrical shape, which is arranged to be rotatable about an axis extending in a horizontal direction or an oblique direction; and a plurality of hollow lifting ribs are arranged in the axial direction of the drum.
  • the control unit determines that the vibration state of the drum is an opposed eccentric load state based on the relationship between the acceleration data and the pulse signal, wherein the acceleration data is detected by the acceleration detection unit
  • the data corresponding to the vibration of the drum, and the pulse signal is a signal detected by the acceleration data and the drum position detection device.
  • the acceleration detection unit includes an acceleration sensor that detects accelerations in the left-right, up-down, and front-rear directions of the drum, and the acceleration sensor is disposed on the front end side of the drum.
  • control unit controls the water injection device based on the amount of change in the acceleration data in the left and right direction or the vertical direction of the drum and the amount of change in the acceleration data in the front and rear direction of the drum. .
  • the threshold value of the amount of change in the acceleration data in the left-right direction or the vertical direction of the drum and the threshold value of the amount of change in the acceleration data in the front-rear direction of the drum are based on the The speed varies.
  • control unit controls the water injection device so that the amount of change in acceleration data in the left-right direction and the vertical direction of the drum has priority over the amount of change in acceleration data in the front and rear direction of the drum .
  • the acceleration detection unit includes two acceleration sensors that detect acceleration in the left-right direction and the up-down direction of the drum, and the two acceleration sensors are respectively arranged at the front end of the drum Side and rear side.
  • control unit is based on the amount of change in the left-right or up-down acceleration data on the front end of the drum and the left-right or up-down acceleration data on the rear end of the drum The amount of change to control the water injection device.
  • the threshold value of the amount of change in the acceleration data in the left-right direction or the vertical direction on the front end side of the drum, and the acceleration data in the left-right direction or the vertical direction on the rear end side of the drum varies according to the rotation speed of the drum.
  • control unit controls the water injection device so that the amount of change in acceleration data detected by the acceleration sensor arranged on the front end side of the drum takes precedence over The amount of change in acceleration data detected by the acceleration sensor on the rear end side of the drum.
  • the unbalanced state of the drum is the opposite eccentric load state
  • the vibration state of the drum is the opposite eccentric load state based on the acceleration data corresponding to the vibration of the drum and the relationship between the acceleration data and the pulse signal.
  • the vibration state of the drum can be detected by an acceleration sensor.
  • the vibration state of the drum can be controlled to the optimal vibration state with high accuracy.
  • the vibration state of the drum can be controlled to the optimal vibration state according to the rotation speed of the drum.
  • the vibration of the frame of the washing machine can be reduced, and the burden on the drum bearing portion can be reduced.
  • the vibration state of the drum can be detected with high accuracy.
  • the vibration state of the drum can be controlled to the optimal vibration state with high accuracy.
  • the vibration state of the drum can be controlled to the optimal vibration state according to the rotation speed of the drum.
  • the vibration of the frame of the washing machine can be reduced, and the burden on the drum bearing portion can be reduced.
  • Fig. 1 is a diagram schematically showing a cross section of a washing machine 1 according to an embodiment of the present invention.
  • Fig. 2 is a block diagram of the electrical system of the washing machine 1 of Fig. 1.
  • Fig. 3 is a diagram for explaining a control flow in the spin-drying process of the washing machine 1 of Fig. 1.
  • Fig. 4 is a parameter table showing the opened water supply valve 62.
  • FIG. 5 is a schematic diagram showing the eccentric position in the drum 2.
  • Fig. 6 is a flowchart showing a control flow in the spin-drying process of the washing machine 1 of Fig. 1.
  • Fig. 7 is a flowchart showing an eccentric position adjustment process.
  • FIG. 8 is a graph showing the relationship between the acceleration acquired by the acceleration sensor 12 and the pulse signal ps acquired by the proximity switch 14.
  • Fig. 9 is a flowchart showing a process of measuring the amount of eccentricity/temporary eccentric position.
  • Fig. 10 is a flowchart showing a process of starting judgment.
  • Fig. 11 is a flowchart showing the main process of dehydration.
  • Fig. 12 is a graph showing the outline of the dehydration process of the washing machine 1 of Fig. 1.
  • Fig. 13 is a flowchart showing the processing of the water pouring process.
  • FIG. 14 is a schematic diagram showing an unbalanced state in the drum 2.
  • FIG. 15 is a flowchart showing the calculation process of the official eccentric position.
  • FIG. 16 is a diagram showing a conversion formula corresponding to the unbalanced state in the drum 2.
  • Fig. 17 is a judgment table for calculating the official eccentric position.
  • FIG. 18 is a flowchart showing the process of determining the update of the official eccentric position.
  • Fig. 19 is a flowchart showing the processing of the water pouring process.
  • Fig. 20 is a flowchart showing a determination process of the opposing eccentric load.
  • Fig. 21 is a flowchart showing a process of control determination of a water injection process.
  • Fig. 22 is a judgment table for making a control judgment of a water injection process.
  • Fig. 23 is a judgment table for making a control judgment of a water injection process.
  • Fig. 24 is a view schematically showing a cross section of a washing machine 101 according to a modification of the present invention.
  • Fig. 25 is a flowchart showing a process of control determination of a water injection process.
  • 1 Washing machine; 1c: water injection device; 2: drum; 7: lifting rib; 12: acceleration sensor (acceleration detection unit); 14: proximity switch (drum position detection device); 31: central control unit (control unit); 35 : Unbalance detection unit (eccentricity detection unit); 36: Unbalance position detection unit (eccentricity detection unit); 101: washing machine; 112a, 112b: acceleration sensor (acceleration detection unit).
  • Fig. 1 is a schematic cross-sectional view showing the structure of a washing machine 1 according to this embodiment.
  • Fig. 2 is a functional block diagram showing the electrical configuration of the washing machine 1 according to this embodiment.
  • the washing machine 1 of this embodiment can be applied to, for example, laundromats and homes. It includes: a washing machine body 1a; a washing tub 1b including an outer tub 3 and a drum 2 having an axis S1 extending substantially horizontally; and a water injection device 1c, It has a water receiving unit 5 and a nozzle unit 6; a driving device 40; and a control unit 30 only shown in FIG. 2.
  • the washing machine main body 1a shown in FIG. 1 has a substantially rectangular parallelepiped shape. On the front surface 10a of the washing machine main body 1a, an opening 11 for throwing laundry into the drum 2 is formed, and an opening and closing cover 11a capable of opening and closing the opening 11 is fitted.
  • the main body 1a of the washing machine is designed such that its front surface 10a faces slightly upwards, whereby the opening 11 for throwing laundry into the drum 2 is formed obliquely upward, and the user can open and close the opening 11 from obliquely above
  • the cover 11a opens and closes. That is, the washing machine 1 of this embodiment is a washing machine called a so-called inclined drum-type fully automatic washing machine in which the washing tub 1b is mounted in an inclined direction.
  • the outer tub 3 is a bottomed cylindrical member arranged inside the washing machine main body 1a, and can store washing water inside.
  • an acceleration sensor 12 capable of detecting acceleration in the three directions of the left-right direction, the vertical direction, and the front-rear direction is mounted on the outer peripheral surface 3 a of the outer cylinder 3.
  • the drum 2 is a bottomed cylindrical member that is arranged coaxially with the outer tube 3 in the outer tube 3 and is rotatably supported.
  • the drum 2 can store laundry inside, and its wall surface 2a has many water passage holes 2b (refer to FIG. 1).
  • the driving device 40 rotates the pulley 15 and the transmission belt 15 b through the motor 10, and rotates the driving shaft 17 extending toward the bottom 2 c of the drum 2 to provide driving force for the drum 2 to rotate the drum 2.
  • a proximity switch 14 capable of detecting the passage of a mark 15 a formed on the pulley 15 is provided near the pulley 15.
  • the proximity switch 14 corresponds to a roller position detection device.
  • Each lifting rib 7 has a hollow shape and is formed so as to extend in the axial direction of the drum 2 from the base end 2c to the top end of the drum 2 and protrude from the inner peripheral surface 2a1 of the drum 2 toward the axis S1.
  • the water receiving unit 5 is, for example, a member formed by overlapping three layers of water guide grooves 5a in the radial direction along the axis S1 of the drum 2, and is fixed to the inner peripheral surface 2a1 of the drum 2 as shown in FIG.
  • the water guide grooves 5a are provided in the same number of the lifting ribs 7, and a water passage is formed inside which allows the adjustment water W to flow to any lifting ribs 7 individually.
  • a connecting member 5a1 is connected to the inside of the lifting rib 7, and the adjusting water W is supplied from the water receiving unit 5.
  • Such a water receiving unit 5 and the lifting rib 7 are respectively connected by a connecting member 5a1.
  • the nozzle unit 6 is a member that injects adjustment water W into such a water guide groove 5a, respectively.
  • the nozzle unit 6 has three water injection nozzles 6a and water supply valves 62a, 62b, 62c connected to the water injection nozzles 6a, respectively.
  • the water injection nozzles 6a are provided in the same number as the water guide grooves 5a, and are respectively arranged at positions where water can be injected into the water guide grooves 5a.
  • tap water is used as the adjusted water W.
  • a reversing water supply valve may be used as the water supply valve 62a, 62b, 62c.
  • a water injection nozzle 6a of the nozzle unit 6 is injected into the water channel 5a of the water receiving unit 5
  • the adjusted water W will flow into the lifting rib 7 through the connecting member 5a1.
  • the adjustment water W flows into the lifting rib 7 from the water guide groove 5a via the connecting member 5a1.
  • the lifting rib 7 has: a retention portion 71 for the adjustment water W injected from the top end 1d side of the washing tub 1b by the water injection device 1c to be retained by the centrifugal force during the dehydration process; and an outlet portion 72 that can make the injected adjustment water W from the washing The tube 1b is discharged from the base end 1e side.
  • the adjustment water W flowing into the lifting rib 7 adheres to and stays on the inner peripheral surface 2a1 of the drum 2 by centrifugal force. Thereby, the weight of the lifting rib 7 increases, and the eccentricity (M) of the drum 2 changes.
  • the lifting rib 7 adopts a bag-type lifting rib structure that can store the adjusted water W by centrifugal force. Then, when the dehydration process is about to end and the rotation speed of the drum 2 is reduced, the centrifugal force in the lifting rib 7 is gradually attenuated, and the adjusted water W flows out from the outlet 72 by gravity and is discharged to the outside of the outer tube 3. At this time, the adjustment water W flows into the lower and outer outside of the drum 2 through the outlet portion 72. Therefore, the adjusted water W is discharged so as not to wet the laundry in the drum 2.
  • Fig. 2 is a block diagram showing the electrical configuration of the washing machine 1 of the present embodiment.
  • the actions of the washing machine 1 are controlled by a control unit 30 including a microcomputer.
  • the control unit 30 includes a central control unit (CPU) 31 that is responsible for the control of the entire system.
  • the control unit 30 is connected to a memory 32 that stores a value lower than the resonance point CP of the drum 2 as a value which will be described in detail later.
  • the microcomputer executes the program stored in the memory 32 through the control unit 30, thereby enabling predetermined operating operations, and the memory 32 temporarily stores data and the like used when executing the above-mentioned program.
  • the central control unit 31 outputs a control signal to the rotation speed control unit 33 and further outputs the control signal to the motor control unit (motor control circuit) 34 to control the rotation of the motor 10.
  • the rotation speed control unit 33 inputs a signal indicating the rotation speed of the motor 10 from the motor control unit 34 in real time and serves as a control element.
  • the acceleration sensor 12 is connected to the unbalance detection unit 35.
  • the acceleration sensor 12 and the proximity switch 14 are connected to the unbalance position detection unit 36.
  • the unbalance amount detection unit 35 and the unbalance position detection unit 36 constitute an eccentricity detection unit.
  • the unbalance detection unit 35 calculates the eccentricity of the drum 2 based on the magnitude of the acceleration in the left and right, up and down, and front and rear directions acquired by the acceleration sensor 12 (M), and output the amount of eccentricity (M) to the unbalance amount determining unit 37.
  • the unbalance position detection unit 36 calculates the angle of the unbalance direction based on the signal indicating the position of the mark 15 a input from the proximity switch 14, and outputs the unbalance position signal as the eccentric position (N) to the water injection control unit 38.
  • the angle of the unbalance direction refers to the relative angle of the axis S1 with respect to the lifting rib 7 in the circumferential direction. As shown in FIG. 5 in this embodiment, as an example, in order to show the relative angle between the three lifting ribs 7(A), 7(B), 7(C) and the eccentric position arranged at equal angular intervals with the axis S1 as the center , Set the middle position of the lifting ribs 7(B) and 7(C) to 0°.
  • the water injection control unit 38 determines the lifting ribs that should be supplied with water according to the pre-stored control program 7 and its water supply. Then, the water injection control unit 38 opens the selected water supply valves 62a, 62b, 62c, and starts to inject the adjusted water W.
  • the water injection control unit 38 starts to inject the adjusted water from the water injection nozzle 6a selected according to the calculation of the eccentricity (M) into the water channel 5a of the water receiving unit 5 W, when the amount of eccentricity (M) becomes less than a predetermined reference, the injection of the adjustment water W is stopped.
  • the water injection control unit 38 may stop the injection of the adjustment water W or the lifting ribs that perform the injection of the adjustment water W. 7 is changed to a different lifting rib 7 control.
  • the water injection control unit 38 controls The water injection device 1c supplies adjustment water W to the lifting rib 7 (A).
  • the water injection device 1c is controlled to supply the adjusting water W to both the lifting rib 7 (B) and the lifting rib 7 (C).
  • the central control unit 31 opens the water supply valve X and the water supply valve Z.
  • the determination of the eccentric position (N) is divided into the case of determining the eccentric position (N) of the lifting rib 7 that should be filled with water and The case where the lifting ribs 7 to be filled with water are determined as two eccentric positions (N).
  • the description of "eccentric position (N)" in the present embodiment is a concept indicating one or both of the temporarily calculated temporary eccentric position ⁇ 1 and the officially determined official eccentric position ⁇ -fix. The temporary eccentric position ⁇ 1 and the official eccentric position ⁇ -fix will be described in detail later.
  • the region Y of the eccentric position (N) where the lifting rib 7 to be filled with water is determined as one refers to the regions P(A), P(B), and P(C).
  • the area Y of the eccentric position (N) used for the elimination of eccentricity refers to the areas P(AB), P(BC), and P(CA).
  • the angles of the areas P(A), P(B), and P(C) centered on the axis S1 are set to 20°, and the areas P(AB), P(BC), and P(CA) are The angle centered on the axis S1 is set to 100°.
  • Fig. 6 is a flowchart showing the pre-dehydration process in the first half of the dehydration process.
  • the central control unit 31 when receiving an input signal from an unshown dehydration button or a signal indicating that the dehydration process should be started during washing mode operation, the central control unit 31 proceeds to step SP1 to start the pre-spinning process.
  • step SP1 the central control unit 31 increases the rotation of the drum 2 to a predetermined rotation speed (N1) lower than the resonance point CP of the drum 2 after the drum 2 is loosened and reversed.
  • the predetermined rotation speed (N1) is set to 180 rpm lower than about 300 rpm which is the resonance point CP of the drum 2.
  • step SP2 the central control unit 31 performs control for causing the eccentricity detection unit to calculate the eccentricity amount (M) and the temporary eccentricity position ⁇ 1 based on the acceleration signal provided by the acceleration sensor 12. Specifically, the central control unit 31 calculates the amount of eccentricity (M) for each direction based on, for example, acceleration signals in the left-right direction, the vertical direction, and the front-rear direction acquired from the acceleration sensor 12.
  • the central control unit 31 compares the eccentricity amount (M) calculated for each direction with the eccentricity amount threshold value (ma) stored in the memory 32, determines whether M ⁇ ma is established, and performs a startup determination. If the central control unit 31 determines that M ⁇ ma is established, it proceeds to step SP4, and if it determines that M ⁇ ma is not established, it proceeds to step SP5.
  • the eccentricity threshold (ma) assumes that the eccentricity of the laundry is so large that it is difficult to reduce the eccentricity (M) to the extent that the rotation speed of the drum 2 can be raised to the spin stable rotation speed even if the adjusting water W is supplied to the lifting rib 7 Threshold. That is, when proceeding to step SP5, it means that the amount of eccentricity (M) is so large that it is difficult to complete the dehydration process even if the adjusting water W is supplied to the lifting rib 7.
  • the acceleration sensor 12 employs a sensor capable of detecting acceleration in the left-right direction, the vertical direction, and the front-rear direction.
  • different eccentricity thresholds ma-x, ma-z, ma-y are set for the acceleration signals in the left-right direction, the vertical direction, and the front-rear direction.
  • step SP4 the eccentricity (M) calculated in step SP2 is smaller than the eccentricity threshold (ma) set in the vertical, horizontal, and front-rear directions, and the central control unit 31 determines that M ⁇ ma is established and makes The rotation speed of the drum 2 increases.
  • the central control unit 31 continuously executes the control of the eccentric amount/temporary eccentric position measurement while increasing the rotation speed of the drum 2.
  • continuous is not necessarily limited to uninterrupted continuous programs.
  • step SP5 the central control unit 31 stops the rotation of the drum 2 or reduces the rotation speed of the drum 2 to a rotation speed at which gravity is stronger than the centrifugal force, thereby performing the control of the eccentric position adjustment process that stirs the laundry in the drum 2 in the vertical direction .
  • Fig. 7 is a flowchart showing the flow of eccentric position adjustment processing.
  • step SP3 when it is determined in step SP3 that the amount of eccentricity (M) is too large to be reduced, the rotation of the drum 2 is stopped (step SP51). Then, the drum 2 is rotated at a rotation speed lower than the centrifugal force, the laundry in the drum 2 is stirred, and the eccentricity (M) is changed (step SP52). Then, return to step SP1.
  • the time difference t1 between any time point in the signal representing the acceleration of the drum 2 at least one cycle t2 sent from the acceleration sensor 12 and the time at which the pulse signal ps is sent from the proximity switch 14 is calculated,
  • the relationship between the time difference t1 and the rotation speed of the drum 2 is used to calculate the temporary eccentric position ⁇ 1 in the circumferential direction in the drum 2. Any one of signals in a plurality of directions including the front-rear direction is used for calculation of the temporary eccentric position ⁇ 1.
  • FIG. 8 is a graph showing the relationship between the information indicating the time change of the acceleration calculated from the acceleration and the pulse signal ps acquired by the proximity switch 14.
  • the temporary eccentric position ⁇ 1 is calculated based on the time difference t1 between the maximum value (Ymax) of the acceleration in the front-rear direction acquired by the acceleration sensor 12 and the pulse signal ps. It should be noted that although the present embodiment shown in FIG.
  • the temporary eccentric position ⁇ 1 may be calculated based on any one or more of the acceleration zero point, the maximum value (Ymax) and the minimum value (Ymin) of the acceleration.
  • Fig. 9 is a flowchart showing the flow of processing for measuring the amount of eccentricity/temporary eccentric position.
  • step SP21 the central control unit 31 uses the acceleration sensor 12 to detect acceleration data (MX, MY, MZ) in the left-right direction, the front-rear direction, and the vertical direction.
  • acceleration data MX, MY, MZ
  • step SP22 the central control unit 31 determines the acceleration data (MX, MY, MZ) based on the acceleration data (MX, MY, MZ) acquired by the acceleration sensor 12 and the pulse signal ps as the interrupt signal from the proximity switch 14. Maximum value (Xmax, Ymax, Zmax)/minimum value (Xmin, Ymin, Zmin) calculation processing.
  • step SP23 the central control unit 31 calculates and determines the value of one period t2 as the time for the drum 2 to rotate one revolution based on the interval between the plurality of pulse signals ps as the interrupt signal from the proximity switch 14.
  • step SP24 the central control unit 31 uses a plurality of pulse signals ps as interrupt signals from the proximity switch 14 and the maximum values (Xmax, Ymax, Zmax) of the acceleration data (MX, MY, MZ) acquired in step SP22, Calculate and determine the time difference t1.
  • the central control unit 31 not only calculates the time difference t1Y which is the time difference t1 in the front-rear direction illustrated in FIG. 8, but also calculates the time difference t1X and t1Z in the left-right direction and the vertical direction.
  • step SP25 the central control unit 31 calculates and determines the maximum value (Xmax, Ymax, Zmax)/minimum value (Xmin, Ymin, Zmin) of the acceleration data (MX, MY, MZ) obtained in step SP22
  • the amount of eccentricity (M) is the respective eccentric amounts Mx, My, and Mz in the left-right direction, the front-rear direction, and the vertical direction.
  • the eccentricity amounts Mx, My, and Mz are obtained from the difference between the maximum value (Xmax, Ymax, Zmax) and the minimum value (Xmin, Ymin, Zmin).
  • step SP26 the central control unit 31 calculates and determines the respective temporary eccentric positions ⁇ X1, ⁇ Y1 in the left-right direction, the front-rear direction, and the vertical direction according to a period t2 obtained in step SP23 and a time difference t1 obtained in step SP24 using the following formulas , ⁇ Z1.
  • Fig. 10 is a flowchart showing the flow of activation determination.
  • step SP31 the central control unit 31 selects the eccentricity amount (M) that is a large value among the eccentricity amount Mx in the left-right direction and the eccentricity amount Mz in the up-down direction determined in step SP25.
  • the selected eccentricity (M) is recorded as the eccentricity Mxz.
  • step SP32 the central control unit 31 determines whether the eccentricity amount Mxz exceeds the threshold value mxz which is the eccentricity amount threshold value (ma). If the amount of eccentricity Mxz is lower than the threshold mxz, the central control unit 31 moves to step SP33. If the eccentricity amount Mxz exceeds the threshold value mxz, the central control unit 31 determines that it cannot be activated and moves to step SP5 to perform the eccentricity amount adjustment processing.
  • step SP33 the central control unit 31 determines whether the amount of eccentricity My in the front-rear direction exceeds the threshold value my which is the eccentric amount threshold value (ma). If the amount of eccentricity My is lower than the threshold my, the central control unit 31 determines that it can be started. At this time, the rotation speed of the drum 2 is increased. If the amount of eccentricity My exceeds the threshold value my, the central control unit 31 determines that it cannot be activated, and moves to step SP5 to perform eccentricity adjustment processing.
  • the threshold value my which is the eccentric amount threshold value (ma). If the amount of eccentricity My is lower than the threshold my, the central control unit 31 determines that it can be started. At this time, the rotation speed of the drum 2 is increased. If the amount of eccentricity My exceeds the threshold value my, the central control unit 31 determines that it cannot be activated, and moves to step SP5 to perform eccentricity adjustment processing.
  • Fig. 11 is a flowchart showing the flow of the main dehydration process.
  • step SP51 the central control unit 31 increases the rotation speed by 20 rpm per second until the rotation speed of the drum 2 reaches 400 rpm.
  • the central control unit 31 executes step SP51 and executes step SP6 in parallel.
  • step SP52 the central control unit 31 determines whether the rotation speed of the drum 2 has reached 400 rpm. If the rotation speed has not reached 400 rpm, the central control unit 31 moves to step SP51. If the rotation speed reaches 400 rpm, the central control unit 31 moves to step SP63.
  • step SP53 the central control unit 31 increases the rotation speed by 5 rpm per second until the rotation speed of the drum 2 reaches 600 rpm.
  • the central control unit 31 executes step SP53 and executes step SP6 in parallel.
  • step SP54 the central control unit 31 determines whether the rotation speed of the drum 2 has reached 600 rpm. If the rotation speed has not reached 600 rpm, the central control unit 31 moves to step SP53. If the rotation speed reaches 600 rpm, the central control unit 31 moves to step SP55.
  • the reason why the acceleration when the rotation speed of the drum 2 rises to 400-600 rpm is lower than that of the other rotation ranges is because in this rotation range, the amount of water dewatering from the laundry is greater than that in the other rotation ranges, in order to reduce the amount of water that escapes. Unnecessary noise.
  • step SP55 the central control unit 31 increases the rotation speed by 20 rpm per second until the rotation speed of the drum 2 reaches 800 rpm.
  • the central control unit 31 executes step SP55 in parallel while executing step SP6.
  • step SP56 the central control unit 31 determines whether the rotation speed of the drum 2 has reached 800 rpm. If the rotation speed does not reach 800 rpm, the central control unit 31 moves to step SP55. If the rotation speed reaches 800 rpm, the central control unit 31 moves to step SP57.
  • step SP57 when the rotation speed of the drum 2 reaches 800 rpm, which is a stable rotation speed of the dehydration, the central control unit 31 continues the dehydration process and ends the washing after confirming that a predetermined time has passed. In other words, similar to the dehydration process in normal washing, the central control unit 31 rotates the drum 2 at the dehydration stable rotation speed for a predetermined time to perform the dehydration process. After that, the dehydration treatment ends. Then, when the dehydration ends and the drum 2 starts to decelerate and the centrifugal force is lower than the gravitational acceleration, the adjustment water W in the lifting rib 7 flows out and is discharged.
  • 800 rpm which is a stable rotation speed of the dehydration
  • FIG. 12 is a graph showing the outline of the spin-drying process of the washing machine 1 of the present embodiment.
  • the vertical axis represents the rotation speed of the drum 2
  • the horizontal axis represents time.
  • the change in the rotation speed of the drum 2 when the rotation speed of the drum 2 reaches the stable rotation speed of the dehydration without water being poured into the lifting rib 7 is indicated by a solid line.
  • the upper imaginary line shows the change in the rotation speed when the rotation speed reaches the dehydration stable rotation speed after only one injection of water into the lifting rib 7, and the lower imaginary line shows the change in the rotation speed of the drum 2 in step SP5.
  • Fig. 13 is a flowchart showing the outline of the water injection process.
  • step SP6 the central control unit 31 determines whether the eccentricity amount (M) calculated in step SP2 shown in FIG. 6 is greater than the water injection eccentricity amount threshold value (mb) set in advance according to the rotation speed of the drum 2.
  • the central control unit 31 does not inject water into the lifting rib 7 and moves to the main dehydration process in FIG. 11.
  • the central control unit 31 injects water into the lifting rib 7 during the water injection process, and the amount of eccentricity (M) becomes lower than the threshold value (mb) for the amount of eccentricity for water injection. Then move to the main dehydration process in FIG. 11.
  • the calculation process of the formal eccentric position as step SP61 and the calculation process of the formal eccentric position are mainly performed on the basis of the process of measuring the eccentricity/temporary eccentric position that is continued after the rotation speed of the drum 2 reaches 180 rpm as described above.
  • Step SP64 water injection treatment.
  • step SP61 the central control unit 31 calculates the official eccentric position ⁇ -fix based on the temporary eccentric position ⁇ 1.
  • the calculation method of the official eccentric position ⁇ -fix will be described later.
  • step SP62 the central control unit 31 determines whether to update the official eccentric position ⁇ -fix to the value calculated in step SP61, and determines the official eccentric position ⁇ -fix.
  • step SP63 the central control unit 31 determines whether the amount of eccentricity (M) exceeds the threshold value (mb) for the amount of eccentricity for water injection. If the amount of eccentricity (M) exceeds the threshold value (mb) for the amount of eccentricity for water injection, the process moves to step SP64. If the eccentricity (M) is lower than the water injection eccentricity threshold (mb), the water injection process ends.
  • step SP64 the central control unit 31 performs the water injection process without increasing the rotation speed of the drum 2 and maintaining the rotation speed. After that, it moves to step SP65.
  • step SP65 the central control unit 31 determines whether the amount of eccentricity (M) exceeds the threshold value (mb) for the amount of eccentricity for water injection. If the eccentricity amount (M) exceeds the water injection eccentricity amount threshold value (mb), the process moves to step SP61. If the eccentricity (M) is lower than the water injection eccentricity threshold (mb), the water injection process ends.
  • step SP61 The calculation processing of the official eccentric position shown in step SP61 will be described based on FIGS. 14 to 17.
  • Figures 14(a) to 14(d) show the eccentric position in the circumferential direction and the eccentric position in the depth direction of the drum 2 in four unbalanced states.
  • the unbalanced state a is the state where the eccentric position is on the front end side of the drum 2
  • the unbalanced state b is the state where the eccentric position is near the center of the drum 2
  • the unbalanced state c is the state where the eccentric position is on the rear end of the drum 2.
  • the equilibrium state d is a state in which the eccentric position is positioned such that the front end side and the rear end side of the drum 2 are opposed to each other (a facing eccentric load state).
  • the so-called opposing eccentric load state means that as shown in Figure 14(d), two eccentric positions are arranged to be axisymmetric with respect to the rotation axis of the drum 2, and the two eccentric positions in the depth direction are staggered in the front and rear directions status.
  • the horizontal and vertical vibrations of the front end of the drum 2 are greater than the horizontal and vertical vibrations of the rear end of the drum 2.
  • the horizontal and vertical vibrations of the rear end side of the drum 2 are greater than the horizontal and vertical vibrations of the front end side of the drum 2, and are greater than the unbalanced state a and unbalanced state.
  • the vibration in the left-right direction and the up-down direction of the rear end side of the drum 2 is large. That is, in the unbalanced state c and the unbalanced state d, the vibration in the front-rear direction of the drum 2 is larger than the unbalanced state a and the unbalanced state b.
  • the actual eccentric position ⁇ -fix is calculated in consideration of the vibration state of the drum 2, that is, the unbalanced state of the drum 2.
  • the acceleration sensor 12 is a three-axis sensor capable of detecting acceleration in the left-right direction, the vertical direction, and the front-rear direction. Thereby, even in a state where the eccentric position in the drum 2 is different as shown in FIGS. 14(a) to 14(d), the eccentric amount (M) and the eccentric position (N) can be accurately detected.
  • FIG. 15 is a flowchart showing the calculation process of the official eccentric position.
  • step SP611 the central control unit 31 calculates the respective temporary eccentric positions ⁇ Y1 and ⁇ Z1 in the front-rear direction and the up-and-down direction based on the one period t2 and the time difference t1 by the following formula.
  • step SP612 the central control unit 31 calculates the judgment use value M1.
  • the judgment use value M1 is the difference between the acceleration data MY in the Y direction and the acceleration data MZ in the Z direction.
  • step SP613 the central control unit 31 calculates the judgment use value M2.
  • the judgment use value M2 is the difference between the value obtained by multiplying the acceleration data MZ in the Z direction by twice and the acceleration data MY in the Y direction.
  • step SP614 the central control unit 31 calculates the absolute value of the opposed load determination value T.
  • the opposed load determination value T is the difference between the temporary eccentric position ⁇ Y1 in the front-rear direction and the temporary eccentric position ⁇ Z1 in the vertical direction.
  • step SP615 the central control unit 31 calculates the official eccentric position ⁇ -fix based on the absolute value of the judgment use value M1, the judgment use value M2, and the opposed load judgment value T.
  • step SP615 the central control unit 31 calculates ⁇ Z2-1, ⁇ Z2-2, ⁇ Y2-1, ⁇ Y2-2 calculated from the four transformation formulas A to D shown in FIG. 16 based on the determination table in FIG. Any value in is calculated as the official eccentric position ⁇ -fix.
  • the four conversion formulas A to D are conversion formulas in which the rotation speed of the drum 2 is used as a variable.
  • the conversion formula B is a conversion formula in which the rotation speed and the amplitude of the drum 2 are used as variables.
  • the threshold value A of the determination use value M1 in FIG. 17 is a value that changes with the rotation speed of the drum 2.
  • the threshold value B of the determination use value M2 in FIG. 17 is a value that changes with the rotation speed of the drum 2.
  • the official eccentric position ⁇ -fix is determined as ⁇ Z2-2 calculated by the conversion formula B.
  • the official eccentric position ⁇ -fix is determined as calculated by the transformation formula C ⁇ Y2-1.
  • the official eccentric position ⁇ -fix is determined as calculated by the transformation formula D ⁇ Y2-2.
  • the official eccentric position ⁇ -fix is determined to be calculated by the transformation formula D ⁇ Y2-2.
  • the above-mentioned four conversion formulas A to D respectively correspond to the unbalanced states a to d of the drum 2 shown in FIG. 14 which are different from each other. Therefore, when the central control unit 31 calculates the official eccentric position ⁇ -fix based on the determination table in FIG. 17, the central control unit 31 uses the conversion formula corresponding to the unbalance a to d according to the unbalanced states a to d of the drum 2. One of A to D is used to calculate the official eccentric position ⁇ -fix.
  • FIG. 18 is a flowchart showing the flow of the update determination of the official eccentric position.
  • step SP615 when the official eccentric position ⁇ -fix is calculated in step SP615, it is determined in step SP62 whether to update the official eccentric position ⁇ -fix to the value calculated in step SP615.
  • step SP621 the central control unit 31 stores the previous official eccentric position ⁇ -fix as ⁇ -fix-before.
  • step SP622 the central control unit 31 stores the official eccentric position ⁇ -fix calculated in step SP615 as ⁇ -fix-after.
  • step SP623 the central control unit 31 calculates the difference between ⁇ -fix-after stored in step SP622 and ⁇ -fix-before stored in step SP621 and records it as ⁇ -fix-dif.
  • step SP624 the central control unit 31 determines whether the absolute value of ⁇ -fix-dif calculated in step SP623 is 150 or more. When the absolute value of ⁇ -fix-dif is 150 or more, the process moves to step SP625. When the absolute value of ⁇ -fix-dif is not 150 degrees or more, the process moves to step SP626.
  • step SP625 since the absolute value of ⁇ -fix-dif in step SP624 is 150 degrees or more, the official eccentric position ⁇ -fix changes sharply, so the central control unit 31 sets the official eccentric position ⁇ -fix to ⁇ -fix-before. Not updated to ⁇ -fix-after.
  • step SP626 since the absolute value of ⁇ -fix-dif in step SP624 is not 150 degrees or more, the central control unit 31 updates the official eccentric position ⁇ -fix from ⁇ -fix-before to ⁇ -fix-after.
  • Fig. 19 is a flowchart showing the flow of water injection processing.
  • step SP641 the central control unit 31 acquires the official eccentric position ⁇ -fix calculated in step SP61 as the official eccentric position ⁇ -fix for driving the water supply valves 62a, 62b, 62c.
  • the central control unit 31 determines the lifting rib 7 to be filled with water based on the official eccentric position ⁇ -fix calculated in step SP61.
  • the actual eccentric position ⁇ -fix is shown in FIG. 5 as the relative angle of the axis S1 extending in the circumferential direction with an arbitrary imaginary line, and in FIG. 19 it is shown as meaning 0° to 359° Any value from 0 to 359.
  • step SP642 the central control unit 31 determines whether the condition that the value of the official eccentric position ⁇ -fix is less than 10 or greater than 350 is met. When the above conditions are met, the central control unit 31 moves to step SP643. If the above conditions are not met, the central control unit 31 moves to step SP644.
  • step SP643 the central control unit 31 determines that the official eccentric position ⁇ -fix is in the area P(A) shown in FIG. 5, and drives the water supply valve 62a to supply water to the lifting rib 7(A).
  • step SP644 the central control unit 31 determines whether the value of the official eccentric position ⁇ -fix is 10 or more and 110 or less. When the above conditions are met, the central control unit 31 moves to step SP645. If the above conditions are not met, the central control unit 31 moves to step SP646.
  • step SP645 the central control unit 31 determines that the official eccentric position ⁇ -fix is in the area P(AB) shown in FIG. 5, and drives the water supply valves 62a, 62b to supply water to the lifting ribs 7(A), 7(B) .
  • step SP646 the central control unit 31 determines whether the value of the official eccentric position ⁇ -fix is 110 or more and 130 or less. If the above conditions are met, the central control unit 31 moves to step SP647. If the above conditions are not met, the central control unit 31 moves to step SP648.
  • step SP647 the central control unit 31 determines that the official eccentric position ⁇ -fix is in the area P(B) shown in FIG. 5, and drives the water supply valve 62b to supply water to the lifting rib 7(B).
  • step SP648 the central control unit 31 determines whether the value of the official eccentric position ⁇ -fix is 130 or more and 230 or less. When the above conditions are met, the central control unit 31 moves to step SP649. If the above conditions are not met, the central control unit 31 moves to step SP650.
  • step SP649 the central control unit 31 determines that the official eccentric position ⁇ -fix is in the area P(BC) shown in FIG. 5, and drives the water supply valves 62b, 62c to supply water to the lifting ribs 7(B), 7(C) .
  • step SP650 the central control unit 31 determines whether the value of the official eccentric position ⁇ -fix is 230 or more and 250 or less. If the above conditions are met, the central control unit 31 moves to step SP651. If the above conditions are not met, the central control unit 31 moves to step SP652.
  • step SP651 the central control unit 31 determines that the official eccentric position ⁇ -fix is in the area P(C) shown in FIG. 5, and drives the water supply valve 62c to supply water to the lifting rib 7(C).
  • step SP652 the central control unit 31 determines that the value of the official eccentric position ⁇ -fix is 250 or more and 350 or less, and moves to step SP653.
  • step SP653 the central control unit 31 determines that the official eccentric position ⁇ -fix is in the area P(CA) shown in FIG. 5, and drives the water supply valves 62c, 62a to supply water to the lifting ribs 7(C), 7(A) .
  • step SP66 the central control unit 31 determines whether the eccentricity of the drum 2 is the opposite eccentricity Load state (unbalanced state d in (d) of FIG. 14). When the eccentric state of the drum 2 is the opposing eccentric load state, it transfers to step SP67. When the eccentric state of the drum 2 is not the opposing eccentric load state, it moves to step SP673.
  • step SP67 the central control unit 31 determines whether to change the water injection position or stop the water injection according to the vibration state of the drum 2. If it is determined that the water injection position is to be changed, the process moves to step SP671. When it is determined that the water injection is to be stopped, the process moves to step SP672. When it is determined that the water injection position is not changed and the water injection is not stopped, the process moves to step SP673.
  • step SP671 the central control unit 31 controls the water injection device 1c to change the water injection position to the opposite side.
  • step SP672 the central control unit 31 controls the water injection device 1c to stop water injection.
  • step SP673 the central control unit 31 controls the water injection device 1c to continue water injection.
  • Fig. 20 is a flowchart showing the flow of determination of the opposing eccentric load.
  • step SP661 the central control unit 31 calculates the determination use value M1.
  • the judgment use value M1 is the difference between the acceleration data MY in the Y direction and the acceleration data MZ in the Z direction.
  • step SP662 the central control unit 31 determines whether or not the condition that the determined use value M1 is equal to or greater than the threshold A is met. When the above conditions are met, the central control unit 31 moves to step SP663. If the above conditions are not met, the central control unit 31 moves to step SP667.
  • the threshold value A for determining the use value M1 is a value that changes according to the rotation speed of the drum 2.
  • step SP663 the central control unit 31 determines whether the eccentric position of the drum 2 is a unilateral eccentric state toward the depth of the drum or an opposing eccentric load state.
  • step SP664 the central control unit 31 calculates the opposing load determination value T.
  • the opposed load determination value T is the difference between the temporary eccentric position ⁇ Y1 in the front-rear direction and the temporary eccentric position ⁇ Z1 in the vertical direction.
  • step SP665 the central control unit 31 determines whether or not the condition that the absolute value of the opposed load determination value T is 150 or more is met.
  • the condition that the absolute value of the opposed load determination value T is 150 or more means that the phase difference between the temporary eccentric position ⁇ Y1 in the front-rear direction and the temporary eccentric position ⁇ Z1 in the vertical direction is 150 degrees or more. That is, since the phase difference between the temporary eccentric position ⁇ Y1 and the temporary eccentric position ⁇ Z1 is close to 180 degrees, the temporary eccentric position ⁇ Y1 and the temporary eccentric position ⁇ Z1 are substantially opposed to each other (opposing eccentric load state).
  • the threshold value of the phase difference between the temporary eccentric position ⁇ Y1 and the temporary eccentric position ⁇ Z1 is not limited to 150.
  • step SP666 the central control unit 31 determines that the eccentric position of the drum 2 is in the opposing eccentric load state.
  • step SP667 the central control unit 31 determines that the eccentric position of the drum 2 is not in the opposed eccentric load state.
  • Fig. 21 is a flowchart showing the flow of water injection control determination processing.
  • step SP67 after it is determined in step SP66 that the unbalanced state of the drum 2 is the opposite eccentric load state, the central control unit 31 determines whether to change the water injection position, stop the water injection, or continue according to the vibration state of the drum 2 Water injection.
  • step SP671 the central control unit 31 measures the average value A1 of the left and right vibrations, that is, the average value A1 of the acceleration data MX in the X direction and the acceleration data MZ in the Z direction.
  • step SP672 the central control unit 31 measures the amount of change A2 of the average value A1 of the left and right vibrations for one second.
  • step SP673 the central control unit 31 measures the average value A3 of the front and rear vibrations, that is, the average value A3 of the acceleration data MY in the Y direction.
  • step SP674 the central control unit 31 measures the amount of change A4 between the average value A3 of the vibration before and after for one second.
  • step SP675 the central control unit 31 based on the average value A1 of the left and right/up and down vibrations, the amount of change A1 within 1 second of the average value A1, the average value A3 of back and forth vibrations, and the amount of change A4 within 1 second of the average value A3. And the judgment table to determine whether to change the water injection position, stop the water injection process, or continue water injection.
  • FIG. 22 shows a judgment table when the rotation speed of the drum 2 is 200 to 250 rpm
  • FIG. 23 shows a judgment table when the rotation speed of the drum 2 is 450 to 500 rpm.
  • the conditions 1 to 4 are classified according to the above-mentioned A1, A2, A3, and A4, and either of the control to change the water injection position or the control to stop the water injection process corresponds to the conditions 1 to 4, respectively.
  • the central control unit 31 determines that it is one of the conditions 1 and 2 of the judgment table, it becomes the hoisting rib 7 on the opposite side of the hoisting rib 7 being poured with water. That is, when one lifting rib 7 is being filled with water and the water injection position is changed to the opposite side, the central control unit 31 stops filling the one lifting rib 7 being filled with water, and to the two opposite sides of the one lifting rib 7 One lifting rib 7 is filled with water.
  • the central control unit 31 stops filling the two lifting ribs 7 that are being filled with water, and to the opposite side of the two lifting ribs 7 One lifting rib 7 performs water injection.
  • the central control unit 31 changes from the state of injecting water to the lifting rib 7 (A) to the lifting rib 7 (B) and The lifting rib 7(C) is in a state of water injection.
  • the central control unit 31 changes from the state of filling the lifting rib 7 (B) to the lifting rib 7 (A) and lifting Rib 7 (C) is in a state of water injection.
  • the central control unit 31 changes from the state of filling the lifting rib 7 (C) to the lifting rib 7 (A) and lifting Rib 7 (B) is in a state of water injection.
  • the central control unit 31 moves from the lifting rib 7 (B) and the lifting rib 7 (C) to the opposite side.
  • the state of water injection is changed to the state of water injection to the lifting rib 7 (A).
  • the central control unit 31 performs water injection from the lifting rib 7 (A) and the lifting rib 7 (C) The state becomes the state of pouring water into the lifting rib 7(B).
  • the central control unit 31 When the water injection position is changed to the opposite side when the lifting rib 7 (A) and the lifting rib 7 (B) are injected, the central control unit 31 performs water injection from the lifting rib 7 (A) and the lifting rib 7 (B) The state of is changed to the state of pouring water into the lifting rib 7(C).
  • the change in left and right/up and down vibration A2 is 10 or more, and the change in front and rear vibration A4 is less than -5, make sure to perform control to change the water injection position to the opposite side .
  • the change amount of left and right/up and down vibration A2 is 5 or more
  • the change amount of front and rear vibration A4 is less than -5, be sure to change the water injection position to the opposite side control.
  • the change amount A2 of left and right/up and down vibration is 20 or more, and the change amount A4 of front and rear vibration is -10 or less, be sure to make a response to change the water injection position to the opposite side .
  • the change amount A2 of left and right/up and down vibration is 10 or more
  • the change amount A4 of front and rear vibration is -10 or less
  • the threshold value of the determination table of FIG. 22 and FIG. 23 changes with the rotation speed of the drum 2 during the spin-drying process. For example, when the rotation speed of the drum 2 is increased from 250 rpm to 500 rpm, assuming the same amplitude, the acceleration at 500 rpm is four times that at 250 rpm. Generally speaking, when the rotation speed of the drum 2 increases, the amplitude is difficult to be the same. Therefore, if the amplitude at 500 rpm is set to 1/2 of the amplitude at 250 rpm, the acceleration becomes twice. And the threshold values of conditions 1 to 4 in the judgment table of FIG. 23.
  • the washing machine 1 of the present embodiment includes: a drum 2 having a bottomed cylindrical shape, which is arranged to be rotatable about an axis extending in a horizontal direction or an oblique direction; and a plurality of hollow lifting ribs 7 arranged in the axial direction of the drum 2 Inner peripheral surface; water injection device 1c for injecting water into each lifting rib 7; acceleration sensor 12 as an acceleration detection unit to detect the vibration of drum 2; proximity switch 14 as a drum position detection device to send in response to the rotation of drum 2 Pulse signal; as the eccentricity detection unit, the unbalance amount detection unit 35 and the unbalance position detection unit 36 detect the eccentricity amount and eccentric position in the drum 2; and the central control unit 31 as the control unit, when the eccentricity amount (M ) When the predetermined water injection eccentric amount threshold (mb) is reached, the water injection device 1c is controlled to inject water into the lifting rib 7 corresponding to the eccentric position.
  • mb predetermined water injection eccentric amount threshold
  • the central control unit 31 controls The water injection device 1c, based on the amount of change in acceleration data corresponding to the vibration of the drum 2 detected by the acceleration sensor 12, stops water injection into the lifting rib 7 or changes the lifting rib 7 to be injected into a different lifting rib 7.
  • the water injection to the lifting ribs 7 can be stopped based on the amount of change in acceleration data corresponding to the vibration of the drum 2, and Or the water injection device 1c is controlled to change the lifting ribs 7 to be injected into different lifting ribs 7, so as to control the vibration state of the drum 2 to the optimal vibration state.
  • the central control unit 31 as the control unit determines that the vibration state of the drum 2 is the opposite eccentric load state based on the relationship between the acceleration data and the pulse signal.
  • the acceleration data is determined by the acceleration as the acceleration detection unit.
  • the sensor 12 detects data corresponding to the vibration of the drum 2, and the pulse signal is a signal detected by the acceleration data and the proximity switch 14 as a drum position detection device.
  • the vibration state of the drum 2 is the opposite eccentric load based on the acceleration data corresponding to the vibration of the drum 2 and the relationship between the acceleration data and the pulse signal in response to the rotation of the drum 2. status.
  • the acceleration sensor 12 as an acceleration detection unit includes an acceleration sensor that detects accelerations in the left-right direction, the vertical direction, and the front-rear direction of the drum 2.
  • the acceleration sensor 12 is arranged on the front end side of the drum 2.
  • the vibration state of the drum 2 can be detected by one acceleration sensor 12.
  • the central control unit 31 as a control unit controls the water injection device 1c based on the amount of change in the acceleration data in the left-right or up-down direction of the drum 2 and the amount of change in the acceleration data in the front-rear direction of the drum 2.
  • the vibration state of the drum 2 can be controlled to an optimal vibration state with high accuracy.
  • the threshold value of the amount of change in acceleration data in the left-right direction or the vertical direction of the drum 2 and the threshold value of the amount of change in the acceleration data in the front-rear direction of the drum 2 differ depending on the rotation speed of the drum 2.
  • the vibration state of the drum 2 can be controlled to an optimal vibration state in accordance with the rotation speed of the drum 2.
  • the central control unit 31 as a control unit controls the water injection device 1c so that the amount of change in the acceleration data in the left-right direction and the vertical direction of the drum 2 has priority over the amount of change in the acceleration data in the front-rear direction of the drum 2.
  • the frame vibration of the washing machine 1 can be reduced, and the load on the drum bearing can be reduced.
  • the acceleration detection unit of the present invention may include an acceleration sensor that detects accelerations in both the left-right direction and the vertical direction on the front end side of the drum 2, and the two directions of the left-right direction and the vertical direction on the rear end side of the drum 2. Acceleration sensor for acceleration.
  • a washing machine 101 may include an acceleration sensor 112a arranged on the front end side of the drum 2 and an acceleration sensor 112b arranged on the rear end side of the drum 2 as acceleration detection means.
  • the acceleration sensor 112a and the acceleration sensor 112b are acceleration sensors that detect accelerations in two directions, the left-right direction and the vertical direction of the drum 2, respectively.
  • FIG. 25 is a flowchart showing the procedure of water injection control determination processing.
  • step SP167 similar to step SP67 of the above-mentioned embodiment, after it is determined in step SP66 that the unbalanced state of the drum 2 is the opposite eccentric load state, the central control unit 31 determines that the water injection position is to be changed based on the vibration state of the drum 2. It is still necessary to stop the water injection, or to continue the water injection.
  • step SP1671 the central control unit 31 measures the average value A1 of the left and right vibrations on the front end side of the drum 2, that is, measures the average value A1 of the acceleration data MX in the X direction and the acceleration data MZ in the Z direction on the front end side of the drum 2.
  • step SP1672 the central control unit 31 measures the amount of change A2 for one second of the average value A1 of the left and right vibrations on the front end side of the drum 2.
  • step SP1673 the central control unit 31 measures the average value A3 of the left and right/up and down vibrations on the rear end side of the drum 2, that is, measures the average value of the acceleration data MX in the X direction and the acceleration data MZ in the Z direction on the rear end of the drum 2. A3.
  • step SP1674 the central control unit 31 measures the amount of change A4 for one second of the average value A3 of the left and right vibrations on the rear end side of the drum 2.
  • step SP1675 the central control unit 31 calculates the average value A1 of the left and right/up and down vibrations on the front end side of the drum 2, the change in 1 second between the average value A1, and the average value of the left and right/up and down vibrations on the rear end side of the drum 2.
  • the value A3, the change amount A4 of the average value A3 within 1 second, and the judgment table determine whether to change the water injection position, stop the water injection process, or continue water injection.
  • the determination table when the rotation speed of drum 2 is 200-250 rpm and the determination table when the rotation speed of drum 2 is 450-500 rpm uses the same determination table as the washing machine 1 (FIGS. 22 and 23) of the above-mentioned embodiment.
  • the acceleration sensors 112a and 112b as acceleration detection means are two acceleration sensors that detect accelerations in two of the left and right directions, the up and down directions, and the front and back directions of the drum 2.
  • the two acceleration sensors 112a , 112b are respectively arranged on the front and rear sides of the drum 2.
  • the vibration state of the drum 2 can be detected with high accuracy.
  • the central control unit 31 as the control unit is based on the amount of change in the acceleration data in the left and right or up and down directions on the front end of the drum 2 and the acceleration in the left and right or up and down directions on the rear end of the drum 2.
  • the amount of data change is used to control the water injection device 1c.
  • the vibration state of the drum can be controlled to the optimal vibration state with high accuracy.
  • the threshold value of the amount of change in the acceleration data in the left and right direction or the vertical direction on the front end side of the drum 2 and the amount of change in the acceleration data in the left and right direction or the vertical direction on the rear end side of the drum 2 The threshold value differs according to the rotation speed of the drum 2.
  • the vibration state of the drum 2 can be controlled to the optimal vibration state according to the rotation speed of the drum 2.
  • the central control unit 31 as the control unit controls the water injection device 1c so that the amount of change in the acceleration data detected by the acceleration sensor 112a arranged on the front end of the drum 2 has priority over the amount of change in the acceleration data detected by the acceleration sensor 112a arranged on the front end of the drum 2.
  • the frame vibration of the washing machine 101 can be reduced, and the load on the drum bearing can be reduced.
  • the acceleration detection unit of the present invention can detect accelerations in any two directions of the front end side of the drum 2, the left and right directions, and the front and rear directions, and can detect the vertical direction, the left and right directions, and the front and rear directions of the rear end of the drum 2. Acceleration in any two directions of, the effect of the present invention can be obtained.
  • the above-mentioned embodiment discloses a solution in which three lifting ribs 7 are provided, of course, a structure having four or more lifting ribs 7 may also be adopted. Moreover, of course, the lifting ribs 7 do not necessarily need to be arranged at equal angular intervals in the circumferential direction of the drum 2, and they do not need to have the same shape.

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Abstract

一种洗衣机，具备：有底筒状的滚筒，设置为能绕水平方向或倾斜方向延伸的轴线旋转；多个中空的提升筋，沿滚筒的轴线方向配设于滚筒的内周面；注水装置，用于向各个提升筋注水；加速度传感器，检测滚筒的振动；接近开关，响应于滚筒的旋转而发送脉冲信号；不平衡量检测部和不平衡位置检测部，检测滚筒内的偏心量和偏心位置；以及中央控制部，当脱水过程中偏心量达到规定的注水用偏心量阈值时，控制注水装置向与偏心位置对应的提升筋注水，在滚筒的振动状态为对置偏心负荷状态的情况下，中央控制部控制注水装置，基于由加速度传感器检测到的对应于滚筒的振动的加速度数据的变化量，停止向提升筋注水，或者使被注水的提升筋变为不同的提升筋。

Description

洗衣机 技术领域
本发明涉及一种具有脱水功能的洗衣机。
背景技术
家庭用的洗衣机或者设置于自助洗衣店等的洗衣机中，某些洗衣机具备洗涤脱水功能、洗涤脱水烘干功能。
具有脱水功能的洗衣机会因滚筒内的洗涤物的偏倚而产生振动、噪音。而且，如果洗涤物的偏倚大，则旋转时的滚筒的偏心变大，旋转需要大的转矩，因而无法开始脱水运转。
作为用于解决该问题的洗衣机，如专利文献1所述，有一种洗衣机通过向沿滚筒的周向均等地设置的多个平衡器进行注水来主动消除滚筒的不平衡状态。专利文献1中公开的洗衣机具有装配于滚筒的前端侧的加速度传感器，根据由该加速度传感器检测到的水平方向和垂直方向的加速度来检测滚筒的不平衡位置。然后，根据该不平衡位置来向平衡器进行注水，由此消除滚筒的不平衡状态。
作为滚筒的不平衡状态，如图14的(a)～图14的(d)所示，认为有四种不平衡状态。不平衡状态a是偏心位置位于滚筒的前端侧的状态，不平衡状态b是偏心位置位于滚筒的中央附近的状态，不平衡状态c是偏心位置位于滚筒的后端侧的状态，不平衡状态d是两个偏心位置以在滚筒的前端侧和后端侧相对的方式定位的状态(对置偏心负荷状态)。
在不平衡状态a～c的情况下，在圆周方向上有一个偏心位置，考虑通过向与该偏心位置对置一侧的平衡器进行注水，来消除滚筒的不平衡状态。与此相对，在不平衡状态d的情况下，在圆周方向上有两个偏心位置，在向与两个偏心位置的一方对置一侧的平衡器进行注水的情况下，被注水的平衡器的重量会增加另一方的偏心位置引起的偏心量。因此，在不平衡状态为对置偏心负荷状态的情况下，难以消除滚筒的不平衡状态。
现有技术文献
专利文献
专利文献1：日本特开2016－197号公报
发明内容
发明所要解决的问题
因此，本发明是为了解决相关的现有技术的问题而提出的，能提供一种即使洗涤筒内存在洗涤物的偏倚也能在脱水过程时可靠地减少洗涤筒的不平衡的洗衣机。
用于解决问题的方案
本发明的洗衣机的特征在于，具备：有底筒状的滚筒，设置为能绕水平方向或倾斜方向延伸的轴线旋转；多个中空的提升筋，沿所述滚筒的轴线方向配设于所述滚筒的内周面；注水装置，用于向各个所述提升筋注水；加速度检测单元，检测所述滚筒的振动；滚筒位置检测装置，响应于所述滚筒的旋转而发送脉冲信号；偏心检测单元，检测所述滚筒内的偏心量和偏心位置；以及控制单元，当脱水过程中偏心量达到规定的注水用偏心量阈值时，控制所述注水装置向与偏心位置对应的所述提升筋注水，在所述滚筒的振动状态为对置偏心负荷状态的情况下，所述控制单元控制所述注水装置，基于由所述加速度检测单元检测到的对应于所述滚筒的振动的加速度数据的变化量，停止向所述提升筋注水，或者使被注水的所述提升筋变为不同的提升筋。
本发明的洗衣机中，优选的是，所述控制单元基于加速度数据与脉冲信号的关系性判定所述滚筒的振动状态为对置偏心负荷状态，其中，加速度数据是由所述加速度检测单元检测到的对应于所述滚筒的振动的数据，脉冲信号是由所述加速度数据和所述滚筒位置检测装置检测到的信号。
本发明的洗衣机中，优选的是，所述加速度检测单元包括检测滚筒的左右方向、上下方向以及前后方向的加速度的加速度传感器，所述加速度传感器配 置于所述滚筒的前端侧。
本发明的洗衣机中，优选的是，所述控制单元基于所述滚筒的左右方向或上下方向的加速度数据的变化量和所述滚筒的前后方向的加速度数据的变化量，来控制所述注水装置。
本发明的洗衣机中，优选的是，关于所述滚筒的左右方向或上下方向的加速度数据的变化量的阈值、以及关于所述滚筒的前后方向的加速度数据的变化量的阈值根据所述滚筒的转速而不同。
本发明的洗衣机中，优选的是，所述控制单元控制所述注水装置，使所述滚筒的左右方向和上下方向的加速度数据的变化量优先于所述滚筒的前后方向的加速度数据的变化量。
本发明的洗衣机中，优选的是，所述加速度检测单元包括两个检测滚筒的左右方向和上下方向这两个方向的加速度的加速度传感器，所述两个加速度传感器分别配置于所述滚筒的前端侧和后端侧。
本发明的洗衣机中，优选的是，所述控制单元基于所述滚筒的前端侧的左右方向或上下方向的加速度数据的变化量和所述滚筒的后端侧的左右方向或上下方向的加速度数据的变化量，来控制所述注水装置。
本发明的洗衣机中，优选的是，关于所述滚筒的前端侧的左右方向或上下方向的加速度数据的变化量的阈值、以及关于所述滚筒的后端侧的左右方向或上下方向的加速度数据的变化量的阈值根据所述滚筒的转速而不同。
本发明的洗衣机中，优选的是，所述控制单元控制所述注水装置，使通过配置在所述滚筒的前端侧的所述加速度传感器检测到的加速度数据的变化量优先于通过配置在所述滚筒的后端侧的所述加速度传感器检测到的加速度数据的变化量。
发明效果
根据本发明，能在滚筒的不平衡状态为对置偏心负荷状态的情况下，基于对应于滚筒的振动的加速度数据的变化量，停止向提升筋注水，或者控制注水装置使被注水的提升筋变为不同的提升筋，从而将滚筒的振动状态控制为最佳振动状态。
根据本发明，能基于对应于滚筒的振动的加速度数据、以及加速度数据与脉冲信号的关系性，容易地检测到滚筒的振动状态为对置偏心负荷状态。
根据本发明，能通过一个加速度传感器检测滚筒的振动状态。
根据本发明，能高精度地将滚筒的振动状态控制为最佳振动状态。
根据本发明，能根据滚筒的转速，将滚筒的振动状态控制为最佳振动状态。
根据本发明，能降低洗衣机的框架振动，并且能降低滚筒轴承部的负担。
根据本发明，能高精度地检测滚筒的振动状态。
根据本发明，能高精度地将滚筒的振动状态控制为最佳振动状态。
根据本发明，能根据滚筒的转速，将滚筒的振动状态控制为最佳振动状态。
根据本发明，能降低洗衣机的框架振动，并且能降低滚筒轴承部的负担。
附图说明
图1是示意性地表示本发明的实施方式的洗衣机1的剖面的图。
图2是图1的洗衣机1的电气系统框图。
图3是用于说明图1的洗衣机1的脱水过程中的控制流程的图。
图4是表示打开的供水阀62的参数表。
图5是表示滚筒2内的偏心位置的示意图。
图6是表示图1的洗衣机1的脱水过程中的控制流程的流程图。
图7是表示偏心位置调整处理的流程图。
图8是表示由加速度传感器12获取的加速度与由接近开关14获取的脉冲信号ps的关系的曲线图。
图9是表示测定偏心量/临时偏心位置的处理的流程图。
图10是表示启动判定的处理的流程图。
图11是表示脱水主过程的流程图。
图12是表示图1的洗衣机1的脱水过程的概要的曲线图。
图13是表示注水过程的处理的流程图。
图14是表示滚筒2内的不平衡状态的示意图。
图15是表示正式偏心位置的计算处理的流程图。
图16是表示与滚筒2内的不平衡状态对应的变换式的图。
图17是用于计算正式偏心位置的判定表。
图18是表示正式偏心位置的更新判定的处理的流程图。
图19是表示注水过程的处理的流程图。
图20是表示对置偏心负荷的判定处理的流程图。
图21是表示注水过程的控制判定的处理的流程图。
图22是用于进行注水过程的控制判定的判定表。
图23是用于进行注水过程的控制判定的判定表。
图24是示意性地表示本发明的变形例的洗衣机101的剖面的图。
图25是表示注水过程的控制判定的处理的流程图。
附图标记说明：
1：洗衣机；1c：注水装置；2：滚筒；7：提升筋；12：加速度传感器(加速度检测单元)；14：接近开关(滚筒位置检测装置)；31：中央控制部(控制单元)；35：不平衡量检测部(偏心检测单元)；36：不平衡位置检测部(偏心检测单元)；101：洗衣机；112a、112b：加速度传感器(加速度检测单元)。
具体实施方式
以下，基于附图对本发明的实施方式的洗衣机1进行详细说明。图1是表示本实施方式的洗衣机1的结构的示意性的剖视图。图2是表示本实施方式的洗衣机1的电结构的功能框图。
本实施方式的洗衣机1能适用于例如自助洗衣店、家庭，其具备：洗衣机主体1a；洗涤筒1b，包括具有大致水平地延伸而成的轴线S1的外筒3和滚筒2；注水装置1c，具有接水单元5和喷嘴单元6；驱动装置40；以及仅在图2中示出的控制单元30。
图1所示的洗衣机主体1a呈大致长方体形状。在洗衣机主体1a的前表面10a，形成有用于向滚筒2投取洗涤物的开口11，并且装配有能开闭该开口11的开闭盖11a。洗衣机主体1a的设计是：其前表面10a稍微朝向上方，由此用于向滚筒2投取洗涤物的开口11形成为朝向斜上方，使用者从斜上方对能开闭该开口11的开闭盖11a进行开闭。即，本实施方式的洗衣机1是洗涤筒1b装配在倾斜方向的被称为所谓倾斜滚筒式全自动洗衣机的洗衣机。
外筒3是配置于洗衣机主体1a的内部的有底筒状的构件，内部能蓄留洗涤水。如图1所示，在外筒3的外周面3a装配有能检测左右方向、上下方向以及前后方向这三个方向的加速度的加速度传感器12。滚筒2是在外筒3内与外筒3同轴地配置且以自由旋转的方式被支承的有底筒状的构件。滚筒2能在内部收容洗涤物，其壁面2a具有许多通水孔2b(参照图1)。
如图1所示，驱动装置40通过马达10使带轮15和传动带15b旋转，并且使朝向滚筒2的底部2c伸出的驱动轴17旋转，为滚筒2提供驱动力而使滚筒2旋转。此外，在一方的带轮15的附近设置有能检测形成于该带轮15的标记15a的通过的接近开关14。本实施方式中，接近开关14相当于滚筒位置检测装置。
如图1所示，在滚筒2的内周面2a1，沿周向等间隔(等角度)地设置有三个作为中空平衡器的提升筋7。各个提升筋7呈中空状并形成为：从滚筒2的基端部2c到顶端部沿滚筒2的轴线方向延伸，从滚筒2的内周面2a1朝向轴线S1突出。
接水单元5是例如沿着滚筒2的轴线S1在径向上重叠三层导水槽5a而构成的构件，如图3所示固定于滚筒2的内周面2a1。导水槽5a以提升筋7相同的数量设置，在内部形成有单独地使调整水W流到任意的提升筋7的通水路径。而且，在提升筋7的内部，如图1所示连接有连通构件5a1，从接水单元5供给调整水W。这样的接水单元5和提升筋7分别由连通构件5a1连接。
喷嘴单元6是向这样的导水槽5a分别注入调整水W的构件。喷嘴单元6具有三个注水喷嘴6a和分别与这些注水喷嘴6a连接的供水阀62a、62b、62c。注水喷嘴6a设置为与导水槽5a数量相同，分别配置于能向各个导水槽5a注水的位置。需要说明的是，本实施方式中，使用自来水来作为调整水W。此外，可以采用换向供水阀来作为供水阀62a、62b、62c。
如果是这样的结构，那么在打开排水阀50a使外筒3内的洗涤水从排水口50排出的脱水过程中，从喷嘴单元6的某个注水喷嘴6a注入接水单元5的导水槽5a内的调整水W会经由连通构件5a1流入提升筋7内。例如，在从某个注水喷嘴6a注入调整水W的情况下，调整水W会从导水槽5a经由连通构件5a1流入提升筋7。
提升筋7具有：滞留部71，供由注水装置1c从洗涤筒1b的顶端1d侧注入的调整水W通过脱水过程时的离心力而滞留；以及出口部72，能使注入的调整水W从洗涤筒1b的基端1e侧排出。当滚筒2处于高速旋转状态时，流入提升筋7内的调整水W通过离心力而附着并滞留于滚筒2的内周面2a1。由此，提升筋7的重量增加，滚筒2的偏心量(M)发生变化。像这样，提升筋7采用能通过离心力来贮留调整水W的袋式提升筋构造。然后，当脱水过程临近结束而滚筒2的旋转速度降低时，提升筋7内的离心力逐渐衰减，调整水W通过重力而从出口部72流出，排出到外筒3外。这时，调整水W经由出口部72流入滚筒2外的下外方。因此，调整水W以不会浸湿滚筒2内的洗涤物的方式被排出。
图2是表示本实施方式的洗衣机1的电结构的框图。洗衣机1的动作由包括微型计算机的控制单元30控制。控制单元30具备负责整个系统的控制的中央控制部(CPU)31，该控制单元30连接有存储器32，该存储器存储有作为后文会分别详细说明的值的低于滚筒2的共振点CP的规定转速(N1)、偏心量阈值(ma)、注水用偏心量阈值(mb)、脱水稳定转速。此外，通过控制单元30，微型计算机执行储存于存储器32的程序，由此能进行预定的运转动作，并且，存储器32中临时存储有执行上述程序时所用的数据等。
中央控制部31向旋转速度控制部33输出控制信号，进而将该控制信号输出给马达控制部(马达控制电路)34来进行马达10的旋转控制。需要说明的是，旋转速度控制部33从马达控制部34实时输入表示马达10的旋转速度的信号来 用作控制要素。
不平衡量检测部35连接有加速度传感器12。不平衡位置检测部36连接有加速度传感器12和接近开关14。本实施方式中，由不平衡量检测部35和不平衡位置检测部36构成偏心检测单元。
由此，当接近开关14检测到标记15a(参照图1)时，不平衡量检测部35根据由加速度传感器12获取的左右方向、上下方向以及前后方向的加速度的大小，计算出滚筒2的偏心量(M)，并将该偏心量(M)向不平衡量判定部37输出。
不平衡位置检测部36根据由接近开关14输入的表示标记15a的位置的信号，计算出不平衡方向的角度，并将作为偏心位置(N)的不平衡位置信号向注水控制部38输出。其中，不平衡方向的角度是指轴线S1的周向上的相对于提升筋7的相对角度。本实施方式中如图5所示，作为其中一例，为了表示以轴线S1为中心等角度间隔配置的三个提升筋7(A)、7(B)、7(C)与偏心位置的相对角度，将提升筋7(B)、7(C)的中间位置设定为0°。
当被输入表示来自不平衡量判定部37和不平衡位置检测部36的偏心量(M)和偏心位置(N)的信号时，注水控制部38根据预先储存的控制程序来判断应该供水的提升筋7及其供水量。然后，注水控制部38打开选定的供水阀62a、62b、62c，开始注入调整水W。当滚筒2中产生预定的基准以上的偏心量(M)时，注水控制部38开始从根据偏心量(M)的计算而选定的注水喷嘴6a向接水单元5的导水槽5a注入调整水W，当偏心量(M)变为预定的基准以下时，停止注入调整水W。需要说明的是，本实施方式中，在滚筒2的不平衡状态为对置偏心负荷状态的情况下，注水控制部38有时会进行停止注入调整水W或将执行调整水W的注入的提升筋7改为不同的提升筋7的控制。
在例如如图3所示构成偏心的主要原因的洗涤物的团块LD(X)位于滚筒2的提升筋7(B)与提升筋7(C)之间的情况下，注水控制部38控制注水装置1c向提升筋7(A)供给调整水W。此外，在洗涤物的团块LD(Y)位于提升筋7(A)附近的情况下，控制注水装置1c向提升筋7(B)和提升筋7(C)双方供给调整水W。
如图4的参数表所述，中央控制部31打开供水阀X、供水阀Z。本实施方式中，如图5所示，通过将滚筒2沿周向六等分，偏心位置(N)的确定分为将应该注水的提升筋7确定为一个的偏心位置(N)的情况和将应该注水的提升筋7确定为两个的偏心位置(N)的情况。本实施方式中的“偏心位置(N)”这一记载是表示临时计算出的临时偏心位置θ1和正式确定的正式偏心位置θ-fix中的某一方或双方的概念。关于临时偏心位置θ1、正式偏心位置θ-fix会在后面详细说明。
将应该注水的提升筋7确定为一个的偏心位置(N)的区域Y是指区域P(A)、P(B)以及P(C)。此外，用于偏心的消除的偏心位置(N)的区域Y是指区域P(AB)、P(BC)以及P(CA)。此外，区域P(A)、P(B)以及P(C)的以轴心S1为中心的角度被设定为20°，区域P(AB)、P(BC)以及P(CA)的以轴心S1为中心的角度被设定为100°。
(脱水前过程)
根据图6对脱水过程当中的前半部分的脱水前过程进行说明。图6是表示脱水过程当中的前半部分的脱水前过程的流程图。
在本实施方式中，当接收到来自未图示的脱水按钮的输入信号或者在洗涤模式运转中接收到表示应该开始脱水过程的信号时，中央控制部31进到步骤SP1，开始脱水前过程。
＜步骤SP1＞
步骤SP1中，中央控制部31在对滚筒2进行松解反转之后使滚筒2的旋转上升至比滚筒2的共振点CP低的规定转速(N1)。在滚筒2的转速达到规定转速(N1)时移至步骤SP2。本实施方式中，将规定转速(N1)设定为比作为滚筒2的共振点CP的约300rpm低的180rpm。
＜步骤SP2＞
步骤SP2中，中央控制部31根据由加速度传感器12提供的加速度信号，执行使偏心检测单元计算偏心量(M)和临时偏心位置θ1的控制。具体地进行说明，中央控制部31根据例如获取自加速度传感器12的左右方向、上下方向以及前后方向的加速度信号，针对各个方向分别计算偏心量(M)。
＜步骤SP3＞
中央控制部31将针对各个方向分别计算出的偏心量(M)与储存于存储器32的偏心量阈值(ma)进行比较，判断M＜ma是否成立，进行启动判定。如果中央控制部31判断M＜ma成立，则进入步骤SP4，如果判断M＜ma不成立，则进入步骤SP5。其中，偏心量阈值(ma)是假定洗涤物的偏倚大到即使向提升筋7供给调整水W也难以将偏心量(M)降低到能将滚筒2的转速上升到脱水稳定转速的程度时的阈值。即，进入步骤SP5的情况下，意味着偏心量(M)大到即使向提升筋7供给调整水W也难以完成脱水过程的程度。
对偏心量阈值(ma)进一步进行说明。本实施方式中，加速度传感器12采用能分别检测左右方向、上下方向以及前后方向的加速度的传感器。而且，按左右方向、上下方向以及前后方向的加速度信号分别设定了不同的偏心量阈值(ma-x、ma-z、ma-y)。
＜步骤SP4＞
步骤SP4中，在步骤SP2中计算出的偏心量(M)比按上下方向、左右方向以及前后方向分别设定的偏心量阈值(ma)小时，中央控制部31判断为M＜ma成立并使滚筒2的转速上升。此外，中央控制部31一边使滚筒2的转速上升，一边持续执行偏心量/临时偏心位置测定的控制。其中，“持续”并不一定局限于不间断地连续进行的方案。当然也可以是如下的方案：在滚筒2的转速上升至达到脱水稳定转速以前的任意的多个转速时，间歇地执行偏心量/临时偏心位置测定的控制。
步骤SP5中，中央控制部31使滚筒2的旋转停止或者使滚筒2的转速降低到重力强过离心力的转速，由此进行将滚筒2内的洗涤物沿上下方向搅拌的偏心位置调整处理的控制。
根据图7对步骤SP5所示的偏心位置调整处理的控制进行说明。图7是表示偏心位置调整处理的流程的流程图。
首先，当通过步骤SP3判断为偏心量(M)大到难以降低的程度时，停止滚筒2的旋转(步骤SP51)。然后，以低于离心力的转速使滚筒2旋转，搅拌滚筒2内的洗涤物，使偏心量(M)变化(步骤SP52)。然后，返回步骤SP1。
(偏心量/临时偏心位置的计算)
根据图8～图9，就步骤SP2所示的临时偏心位置θ1的计算流程进行说明。
在本实施方式中，脱水过程中，计算从加速度传感器12发送的表示滚筒2的至少一个周期t2的加速度的信号中的任意时间点与从接近开关14发送脉冲信号ps的时刻的时间差t1，根据时间差t1与滚筒2的转速的关系来计算滚筒2内的周向上的临时偏心位置θ1，根据计算出的临时偏心位置θ1来进行降低偏心量(M)的控制，并且将来自加速度传感器12的至少包括前后方向的多个方向的信号当中的任意一个信号用于临时偏心位置θ1的计算。
图8是示出表示根据加速度而计算出的加速度的时间变化的信息与由接近开关14获取的脉冲信号ps的关系的曲线图。在图8中，为了便于说明，根据由加速度传感器12获取的前后方向的加速度的极大值(Ymax)与脉冲信号ps的时间差t1来计算临时偏心位置θ1。需要说明的是，虽然在图8所示的本实施方式中，作为一个例子示出了根据加速度的极大值(Ymax)和极小值(Ymin)来计算临时偏心位置θ1的方案，但是作为本发明的其他的实施例，也可以根据加速度零点、加速度的极大值(Ymax)、极小值(Ymin)中的任意一个或多个值来计算临时偏心位置θ1。
图9是表示测定偏心量/临时偏心位置的处理流程的流程图。
＜步骤SP21＞
步骤SP21中，中央控制部31由加速度传感器12来检测左右方向、前后方向以及上下方向的加速度数据(MX、MY、MZ)。
＜步骤SP22＞
步骤SP22中，中央控制部31根据由加速度传感器12获取的加速度数据(MX、MY、MZ)和来自接近开关14的作为中断信号的脉冲信号ps，进行确定加速度数据(MX、MY、MZ)的极大值(Xmax、Ymax、Zmax)/极小值(Xmin、Ymin、Zmin)的计算处理。
＜步骤SP23＞
步骤SP23中，中央控制部31根据来自接近开关14的作为中断信号的多个 脉冲信号ps之间的间隔，计算并确定作为滚筒2旋转一圈的时间的一个周期t2的值。
＜步骤SP24＞
步骤SP24中，中央控制部31根据来自接近开关14的作为中断信号的多个脉冲信号ps和由步骤SP22获取的加速度数据(MX、MY、MZ)的极大值(Xmax、Ymax、Zmax)，计算并确定其时间差t1。在步骤SP24中，中央控制部31除了计算作为图8中图示的前后方向上的时间差t1的时间差t1Y之外，也一并计算左右方向、上下方向上的时间差t1X、t1Z。
＜步骤SP25＞
步骤SP25中，中央控制部31根据由步骤SP22获取的加速度数据(MX、MY、MZ)的极大值(Xmax、Ymax、Zmax)/极小值(Xmin、Ymin、Zmin)，计算并确定作为偏心量(M)的左右方向、前后方向以及上下方向上各自的偏心量Mx、My、Mz。本实施方式中，偏心量Mx、My、Mz根据极大值(Xmax、Ymax、Zmax)和极小值(Xmin、Ymin、Zmin)的差而求出。
＜步骤SP26＞
步骤SP26中，中央控制部31根据由步骤SP23获取的一个周期t2、由步骤SP24获取的时间差t1，通过以下的公式计算并确定左右方向、前后方向以及上下方向上各自的临时偏心位置θX1、θY1、θZ1。
θX1＝t1X×360÷t2
θY1＝t1Y×360÷t2
θZ1＝t1Z×360÷t2
(启动判定)
根据图10对步骤SP3所示的启动判定进行说明。图10是表示启动判定的流程的流程图。
＜步骤SP31＞
步骤SP31中，中央控制部31选择由步骤SP25确定的左右方向的偏心量Mx和上下方向的偏心量Mz当中表现为大的值的偏心量(M)。本实施方式中， 为了便于说明，将被选的偏心量(M)记为偏心量Mxz。
＜步骤SP32＞
步骤SP32中，中央控制部31判定偏心量Mxz是否超过了作为偏心量阈值(ma)的阈值mxz。如果偏心量Mxz低于阈值mxz，则中央控制部31移至步骤SP33。如果偏心量Mxz超过阈值mxz，则中央控制部31判定为不能启动并移至步骤SP5进行偏心量调整处理。
＜步骤SP33＞
步骤SP33中，中央控制部31判定前后方向的偏心量My是否超过作为偏心量阈值(ma)的阈值my。如果偏心量My低于阈值my，则中央控制部31判定为能启动。这时，使滚筒2的转速上升。如果偏心量My超过阈值my，则中央控制部31判定为不能启动，移至步骤SP5进行偏心量调整处理。
(脱水主过程)
以下，根据图11对步骤SP4之后的脱水主过程的控制进行说明。图11是表示脱水主过程的流程的流程图。
＜步骤SP51＞
步骤SP51中，中央控制部31使转速每秒上升20rpm，直到滚筒2的转速达到400rpm。中央控制部31进行步骤SP51的同时并行地执行步骤SP6。
＜步骤SP52＞
步骤SP52中，中央控制部31判定滚筒2的转速是否达到400rpm。如果转速没有达到400rpm，则中央控制部31移至步骤SP51。如果转速达到了400rpm，则中央控制部31移至步骤SP63。
＜步骤SP53＞
步骤SP53中，中央控制部31使转速每秒上升5rpm，直到滚筒2的转速达到600rpm。中央控制部31进行步骤SP53的同时并行地执行步骤SP6。
＜步骤SP54＞
步骤SP54中，中央控制部31判定滚筒2的转速是否达到了600rpm。如果 转速没有达到600rpm，则中央控制部31移至步骤SP53。如果转速达到了600rpm，则中央控制部31移至步骤SP55。其中，滚筒2的转速上升至400～600rpm时的加速度之所以比其他的旋转范围低，是由于在该旋转范围，从洗涤物脱水的水量比其他的旋转范围多，为了降低由脱出的水引起的不必要的噪音。
＜步骤SP55＞
步骤SP55中，中央控制部31使转速每秒上升20rpm，直到滚筒2的转速达到800rpm。中央控制部31进行步骤SP55的同时并行地执行步骤SP6。
＜步骤SP56＞
步骤SP56中，中央控制部31判定滚筒2的转速是否达到800rpm。如果转速没有达到800rpm，则中央控制部31移至步骤SP55。如果转速达到了800rpm，则中央控制部31移至步骤SP57。
＜步骤SP57＞
步骤SP57中，当滚筒2的转速达到作为脱水稳定转速的800rpm时，中央控制部31继续脱水过程并在确认经过了预定的时间之后结束洗涤。换句话说，与通常的洗涤中的脱水过程相同，中央控制部31使滚筒2以脱水稳定转速旋转规定时间来进行脱水处理。之后，脱水处理结束。然后，当脱水结束而滚筒2开始减速，离心力低于重力加速度时，提升筋7内的调整水W流出而被排出。
图12是表示本实施方式的洗衣机1的脱水过程的概要的曲线图。图12中，纵轴表示滚筒2的转速，横轴表示时间。图12中，用实线表示在不向提升筋7注水的情况下滚筒2的转速达到脱水稳定转速时的转速的变化。此外，图12中，用上侧的假想线表示仅向提升筋7注水一次后转速达到脱水稳定转速时的转速的变化，用下侧的假想线表示步骤SP5中的滚筒2的转速的变化。
(注水过程)
根据图13对步骤SP6所示的注水过程进行说明。图13是表示注水过程的概要的流程图。
步骤SP6中，中央控制部31进行由图6所示的步骤SP2计算出的偏心量(M)是否比按滚筒2的转速预先设定的注水用偏心量阈值(mb)大的判定。当偏心 量(M)低于注水用偏心量阈值(mb)时，中央控制部31不向提升筋7进行注水，移至图11的脱水主过程。当偏心量(M)大于注水用偏心量阈值(mb)时，中央控制部31在注水过程中向提升筋7进行注水，在偏心量(M)变得低于注水用偏心量阈值(mb)之后移至图11的脱水主过程。
本实施方式的注水过程中，主要是在如上所述滚筒2的转速达到180rpm之后被继续执行的偏心量/临时偏心位置测定的处理的基础上进行作为步骤SP61的正式偏心位置的计算处理和作为步骤SP64的注水处理。
＜步骤SP61＞
步骤SP61中，中央控制部31根据临时偏心位置θ1来计算正式偏心位置θ-fix。正式偏心位置θ-fix的计算方法在后面进行说明。
＜步骤SP62＞
步骤SP62中，中央控制部31判定是否将正式偏心位置θ-fix更新为步骤SP61中计算出的值，确定正式偏心位置θ-fix。
＜步骤SP63＞
步骤SP63中，中央控制部31判定偏心量(M)是否超过注水用偏心量阈值(mb)。如果偏心量(M)超过注水用偏心量阈值(mb)，则移至步骤SP64。如果偏心量(M)低于注水用偏心量阈值(mb)，则结束注水过程。
＜步骤SP64＞
步骤SP64中，中央控制部31在不使滚筒2的转速上升而维持该转速的状态下进行注水处理。之后，移至步骤SP65。
＜步骤SP65＞
步骤SP65中，中央控制部31判定偏心量(M)是否超过注水用偏心量阈值(mb)。如果偏心量(M)超过注水用偏心量阈值(mb)，则移至步骤SP61。如果偏心量(M)低于注水用偏心量阈值(mb)，结束注水过程。
(正式偏心位置的计算处理)
根据图14～图17对步骤SP61所示的正式偏心位置的计算处理进行说明。
作为滚筒2的不平衡状态，如图14所示，认为有四种不平衡状态。图14的(a)～图14的(d)表示四种不平衡状态下滚筒2的圆周方向上的偏心位置和深度方向上的偏心位置。
不平衡状态a是偏心位置位于滚筒2的前端侧的状态，不平衡状态b是偏心位置位于滚筒2的中央附近的状态，不平衡状态c是偏心位置位于滚筒2的后端侧的状态，不平衡状态d是偏心位置以在滚筒2的前端侧和后端侧相对的方式定位的状态(对置偏心负荷状态)。所谓的对置偏心负荷状态是指如图14的(d)所示，两个偏心位置配置为相对于滚筒2的旋转轴轴对称，并且在深度方向上两个偏心位置在前后方向上错开的状态。
不平衡状态a和不平衡状态b下，滚筒2的前端侧的左右方向和上下方向的振动比滚筒2的后端侧的左右方向和上下方向的振动大。不平衡状态c和不平衡状态d下，滚筒2的后端侧的左右方向和上下方向的振动比滚筒2的前端侧的左右方向和上下方向的振动大，并且比不平衡状态a和不平衡状态b下的滚筒2的后端侧的左右方向和上下方向的振动大。即，不平衡状态c和不平衡状态d下，滚筒2的前后方向的振动比不平衡状态a和不平衡状态b大。
如图14的(a)～图14的(d)所示，当滚筒2内的偏心位置不同时，则滚筒2的振动状态不同。因此，本实施方式中，考虑滚筒2的振动状态即滚筒2的不平衡状态来计算正式偏心位置θ-fix。
本实施方式中，加速度传感器12是能检测左右方向、上下方向以及前后方向的加速度的三轴传感器。由此，即使在如图14的(a)～图14的(d)所示滚筒2内的偏心位置不同的状态下，也能正确地检测偏心量(M)和偏心位置(N)。
(正式偏心位置的计算处理)
根据图15对步骤SP61所示的正式偏心位置的计算处理进行说明。图15是表示正式偏心位置的计算处理的流程图。
＜步骤SP611＞
步骤SP611中，如上所述，中央控制部31根据一个周期t2和时间差t1，通过以下的公式计算前后方向和上下方向上各自的临时偏心位置θY1、θZ1。
θY1＝t1Y×360÷t2
θZ1＝t1Z×360÷t2
＜步骤SP612＞
步骤SP612中，中央控制部31计算判定使用值M1。判定使用值M1是Y方向的加速度数据MY与Z方向的加速度数据MZ之差。
M1＝MY－MZ
＜步骤SP613＞
步骤SP613中，中央控制部31计算判定使用值M2。判定使用值M2是将Z方向的加速度数据MZ乘以两倍得到的值与Y方向的加速度数据MY之差。
M2＝2×MZ－MY
＜步骤SP614＞
步骤SP614中，中央控制部31计算对置负荷判定值T的绝对值。对置负荷判定值T是前后方向上的临时偏心位置θY1与上下方向上的临时偏心位置θZ1之差。
T＝θY1－θZ1
＜步骤SP615＞
步骤SP615中，中央控制部31根据判定使用值M1、判定使用值M2以及对置负荷判定值T的绝对值来计算正式偏心位置θ-fix。
即，步骤SP615中，中央控制部31根据图17的判定表，将通过图16所示的四个变换式A～D而计算出的θZ2-1、θZ2-2、θY2-1、θY2-2中的任意一个值计算为正式偏心位置θ-fix。图16中，四个变换式A～D是以滚筒2的转速作为变量的变换式。此外，变换式B是以滚筒2的转速和振幅量作为变量的变换式。
具体而言，图17的判定表中，根据判定使用值M1、M2的大小、Z方向的加速度数据MZ以及对置负荷判定值T的绝对值，区分为条件1～5，通过四个变换式A～D计算出的θZ2-1、θZ2-2、θY2-1、θY2-2中的任意一个值与条件1～5分别对应。
图17的判定使用值M1的阈值A是随着滚筒2的转速而变化的值。
A＝－0.18×(滚筒转速)+68
图17的判定使用值M2的阈值B是随着滚筒2的转速而变化的值。
B＝0.75×(滚筒转速)－225
(条件1)：
在判定使用值M1小于阈值A且Z方向的加速度数据MZ小于130的情况下，确定为通过变换式A而计算出的θZ2-1。
(条件2)：
在判定使用值M1小于阈值A且Z方向的加速度数据MZ为130以上的情况下，将正式偏心位置θ-fix确定为通过变换式B而计算出的θZ2-2。
(条件3)：
在判定使用值M1为阈值A以上且判定使用值M2小于阈值B且对置负荷判定值T的绝对值小于150的情况下，将正式偏心位置θ-fix确定为通过变换式C而计算出的θY2-1。
(条件4)：
在判定使用值M1为阈值A以上且判定使用值M2小于阈值B且对置负荷判定值T的绝对值为150以上的情况下，将正式偏心位置θ-fix确定为通过变换式D而计算出的θY2-2。
(条件5)：
在判定使用值M1为阈值A以上且判定使用值M2为阈值B以上且对置负荷判定值T的绝对值为150以上的情况下，将正式偏心位置θ-fix确定为通过变换式D而计算出的θY2-2。
上述四个变换式A～D分别对应图14所示的互不相同的滚筒2的不平衡状态a～d。因此，当中央控制部31根据图17的判定表计算出正式偏心位置θ-fix时，中央控制部31按滚筒2的不平衡状态a～d，通过与该不平衡a～d对应的变换式A～D中的某一个来计算出正式偏心位置θ-fix。
(正式偏心位置的更新判定)
根据图18对步骤SP62所示的正式偏心位置的更新判定进行说明。图18是表示正式偏心位置的更新判定的流程的流程图。
如上所述，当步骤SP615中计算出正式偏心位置θ-fix时，在步骤SP62中判定是否将正式偏心位置θ-fix更新为步骤SP615中计算出的值。
＜步骤SP621＞
步骤SP621中，中央控制部31将前一次的正式偏心位置θ-fix作为θ-fix-before进行存储。
＜步骤SP622＞
步骤SP622中，中央控制部31将步骤SP615中计算出的正式偏芯位置θ-fix作为θ-fix-after进行存储。
＜步骤SP623＞
步骤SP623中，中央控制部31计算步骤SP622中存储的θ-fix-after与步骤SP621中存储的θ-fix-before之差并记为θ-fix-dif。
＜步骤SP624＞
步骤SP624中，中央控制部31判定步骤SP623中计算出的θ-fix-dif的绝对值是否为150以上。在θ-fix-dif的绝对值为150以上的情况下，移至步骤SP625。在θ-fix-dif的绝对值不为150度以上的情况下，移至步骤SP626。
＜步骤SP625＞
步骤SP625中，由于步骤SP624中θ-fix-dif的绝对值为150度以上，正式偏心位置θ-fix急剧变化，因此中央控制部31将正式偏心位置θ-fix设为θ-fix-before而不更新为θ-fix-after。
＜步骤SP626＞
步骤SP626中，由于步骤SP624中θ-fix-dif的绝对值不为150度以上，因此中央控制部31将正式偏心位置θ-fix从θ-fix-before更新为θ-fix-after。
(注水处理)
根据图19对步骤SP64所示的注水处理进行说明。图19是表示注水处理的流程的流程图。
＜步骤SP641＞
步骤SP641中，中央控制部31获取步骤SP61中计算出的正式偏心位置θ-fix来作为用于供水阀62a、62b、62c的驱动的正式偏心位置θ-fix。中央控制部31根据步骤SP61中计算出的正式偏心位置θ-fix来判定应该注水的提升筋7。本实施方式中，正式偏心位置θ-fix如图5所示表示为轴心S1的沿周向延伸的与任意假想线的相对角度，在图19中图示为意指0°～359°的0～359中的任意一个数值。
＜步骤SP642＞
步骤SP642中，中央控制部31判定是否符合正式偏心位置θ-fix的值小于10或大于350这个条件。在符合上述条件的情况下，中央控制部31移至步骤SP643。在不符合上述条件的情况下，中央控制部31移至步骤SP644。
＜步骤SP643＞
步骤SP643中，中央控制部31判定为正式偏心位置θ-fix处于图5所示的区域P(A)内，并且驱动供水阀62a来向提升筋7(A)供水。
＜步骤SP644＞
步骤SP644中，中央控制部31判定是否符合正式偏心位置θ-fix的值为10以上110以下这个条件。在符合上述条件的情况下，中央控制部31移至步骤SP645。在不符合上述条件的情况下，中央控制部31移至步骤SP646。
＜步骤SP645＞
步骤SP645中，中央控制部31判定为正式偏心位置θ-fix处于图5所示的区域P(AB)内，并且驱动供水阀62a、62b来向提升筋7(A)、7(B)供水。
＜步骤SP646＞
步骤SP646中，中央控制部31判定是否符合正式偏心位置θ-fix的值为110以上130以下这个条件。在符合上述条件的情况下，中央控制部31移至步骤SP647。在不符合上述条件的情况下，中央控制部31移至步骤SP648。
＜步骤SP647＞
步骤SP647中，中央控制部31判定为正式偏心位置θ-fix处于图5所示的区域P(B)内，并且驱动供水阀62b来向提升筋7(B)供水。
＜步骤SP648＞
步骤SP648中，中央控制部31判定是否符合正式偏心位置θ-fix的值为130以上230以下这个条件。在符合上述条件的情况下，中央控制部31移至步骤SP649。在不符合上述条件的情况下，中央控制部31移至步骤SP650。
＜步骤SP649＞
步骤SP649中，中央控制部31判定为正式偏心位置θ-fix处于图5所示的区域P(BC)内，并且驱动供水阀62b、62c来向提升筋7(B)、7(C)供水。
＜步骤SP650＞
步骤SP650中，中央控制部31判定是否符合正式偏心位置θ-fix的值为230以上250以下这个条件。在符合上述条件的情况下，中央控制部31移至步骤SP651。在不符合上述条件的情况下，中央控制部31移至步骤SP652。
＜步骤SP651＞
步骤SP651中，中央控制部31判定为正式偏心位置θ-fix处于图5所示的区域P(C)内，并且驱动供水阀62c来向提升筋7(C)供水。
＜步骤SP652＞
步骤SP652中，中央控制部31判定为符合正式偏心位置θ-fix的值为250以上350以下这个条件，并且移至步骤SP653。
＜步骤SP653＞
步骤SP653中，中央控制部31判定为正式偏心位置θ-fix处于图5所示的区域P(CA)内，并且驱动供水阀62c、62a来向提升筋7(C)、7(A)供水。
本实施方式中，进行图19所示的供水阀的驱动处理的同时，始终进行临时偏心位置θ1和正式偏心位置θ-fix的计算和正式偏心位置θ-fix的确定。
＜步骤SP66＞
如上所述，开始向提升筋7(A)、7(B)、7(C)中的一个或两个供水之后，步骤SP66中，中央控制部31判定滚筒2的偏心状态是否为对置偏心负荷状态(图14的(d)的不平衡状态d)。在滚筒2的偏心状态为对置偏心负荷状态的情况下，移至步骤SP67。在滚筒2的偏心状态不为对置偏心负荷状态的情况下，移至步骤SP673。
＜步骤SP67＞
在滚筒2的偏心状态为对置偏心负荷状态的情况下，步骤SP67中，中央控制部31根据滚筒2的振动状态判定是要改变注水位置还是要停止注水。在判定为要改变注水位置的情况下，移至步骤SP671。在判定为要停止注水的情况下，移至步骤SP672。在判定为不改变注水位置并且不停止注水的情况下，移至步骤SP673。
＜步骤SP671＞
步骤SP671中，中央控制部31控制注水装置1c将注水位置变至相反侧。
＜步骤SP672＞
步骤SP672中，中央控制部31控制注水装置1c停止注水。
＜步骤SP673＞
步骤SP673中，中央控制部31控制注水装置1c继续注水。
(对置偏心负荷的判定)
根据图20对步骤SP66所示的对置偏心负荷的判定进行说明。图20是表示对置偏心负荷的判定流程的流程图。
＜步骤SP661＞
步骤SP661中，中央控制部31计算判定使用值M1。判定使用值M1是Y方向的加速度数据MY与Z方向的加速度数据MZ之差。
M1＝MY－MZ
＜步骤SP662＞
步骤SP662中，中央控制部31判定是否符合判定使用值M1为阈值A以上 这个条件。在符合上述条件的情况下，中央控制部31移至步骤SP663。在不符合上述条件的情况下，中央控制部31移至步骤SP667。
判定使用值M1的阈值A是根据滚筒2的转速而变化的值。
A＝－0.18×(滚筒转速)+68
＜步骤SP663＞
步骤SP663中，中央控制部31判定滚筒2的偏心位置是向滚筒深处单侧偏心状态还是对置偏心负荷状态。
＜步骤SP664＞
步骤SP664中，中央控制部31计算对置负荷判定值T。对置负荷判定值T是前后方向上的临时偏心位置θY1与上下方向上的临时偏心位置θZ1之差。
T＝θY1－θZ1
＜步骤SP665＞
步骤SP665中，中央控制部31判定是否符合对置负荷判定值T的绝对值为150以上这个条件。对置负荷判定值T的绝对值为150以上这个条件意指前后方向上的临时偏心位置θY1与上下方向上的临时偏心位置θZ1的相位差为150度以上。即，由于临时偏心位置θY1与临时偏芯位置θZ1的相位差接近180度，因此临时偏心位置θY1和临时偏心位置θZ1处于大致对置的状态(对置偏心负荷状态)。在判定是否处于对置偏心负荷状态的情况下，临时偏心位置θY1与临时偏心位置θZ1的相位差的阈值不局限于150。在符合上述条件的情况下，中央控制部31移至步骤SP666。在不符合上述条件的情况下，中央控制部31移至步骤SP667。
＜步骤SP666＞
步骤SP666中，中央控制部31判定为滚筒2的偏心位置处于对置偏心负荷状态。
＜步骤SP667＞
步骤SP667中，中央控制部31判定为滚筒2的偏心位置不处于对置偏心负荷状态。
本发明的洗衣机1中，在滚筒2的偏心位置处于对置偏心负荷状态的情况下，根据由加速度传感器12检测到的加速度数据(MX、MY、MZ)，根据滚筒2的振动状态来进行注水控制判定。
(根据滚筒的振动状态判定注水控制)
根据图21对步骤SP67所示的注水控制判定进行说明。图21是表示注水控制判定处理的流程的流程图。
步骤SP67中，在步骤SP66中判定为滚筒2的不平衡状态为对置偏心负荷状态之后，中央控制部31根据滚筒2的振动状态，判定是要改变注水位置，还是要停止注水，还是要继续注水。
＜步骤SP671＞
步骤SP671中，中央控制部31测量左右/上下振动的平均值A1即X方向的加速度数据MX与Z方向的加速度数据MZ的平均值A1。
＜步骤SP672＞
步骤SP672中，中央控制部31测量左右/上下振动的平均值A1的1秒之间的变化量A2。
＜步骤SP673＞
步骤SP673中，中央控制部31测量前后振动的平均值A3即Y方向的加速度数据MY的平均值A3。
＜步骤SP674＞
步骤SP674中，中央控制部31测量前后振动的平均值A3的1秒之间的变化量A4。
＜步骤SP675＞
步骤SP675中，中央控制部31根据左右/上下振动的平均值A1、平均值A1的1秒之间的变化量A2、前后振动的平均值A3、平均值A3的1秒之间的变化量A4以及判定表，判定是要改变注水位置，还是要停止注水处理，还是要继续注水。
图22表示滚筒2的转速为200～250rpm时的判定表，图23表示滚筒2的转速为450～500rpm时的判定表。图22和图23的判定表中，根据上述的A1、A2、A3、A4区分为条件1～4，改变注水位置的控制或者停止注水处理的控制中的任意一个与条件1～4分别对应。
本实施方式中，中央控制部31在判定为是判定表的条件1、2中的某一个的情况下，变为正在注水的提升筋7的相反侧的提升筋7。即，在一个提升筋7正在被注水时将注水位置变为相反侧的情况下，中央控制部31停止向该正在被注水的一个提升筋7注水，向与该一个提升筋7相反侧的两个提升筋7进行注水。在两个提升筋7正在被注水时将注水位置变为相反侧的情况下，中央控制部31停止向这两个正在被注水的提升筋7注水，向与这两个提升筋7相反侧的一个提升筋7进行注水。
例如，在正在向提升筋7(A)注水时将注水位置变为相反侧的情况下，中央控制部31从向提升筋7(A)进行注水的状态变为向提升筋7(B)和提升筋7(C)进行注水的状态。在正在向提升筋7(B)进行注水时将注水位置变为相反侧的情况下，中央控制部31从向提升筋7(B)进行注水的状态变为向提升筋7(A)和提升筋7(C)进行注水的状态。在正在向提升筋7(C)进行注水时将注水位置变为相反侧的情况下，中央控制部31从向提升筋7(C)进行注水的状态变为向提升筋7(A)和提升筋7(B)进行注水的状态。
此外，例如在向提升筋7(B)和提升筋7(C)进行注水时将注水位置变为相反侧的情况下，中央控制部31从向提升筋7(B)和提升筋7(C)进行注水的状态变为向提升筋7(A)进行注水的状态。在向提升筋7(A)和提升筋7(C)进行注水时将注水位置变为相反侧的情况下，中央控制部31从向提升筋7(A)和提升筋7(C)进行注水的状态变为向提升筋7(B)进行注水的状态。在向提升筋7(A)和提升筋7(B)进行注水时将注水位置变为相反侧的情况下，中央控制部31从向提升筋7(A)和提升筋7(B)进行注水的状态变为向提升筋7(C)进行注水的状态。
脱水过程中，在滚筒2的转速为200～250rpm的情况下，适用图22的判定表。
(条件1)：
在左右/上下振动的平均值A1小于100且左右/上下振动的变化量A2为10以上且前后振动的变化量A4为－5以下的情况下，确定要进行将注水位置变为相反侧的控制。
在满足(条件1)的情况下，虽然左右/上下振动的平均值A1比较小，但是由于左右/上下振动的变化量A2大，滚筒2的左右/上下振动会增加，因此注水位置变为相反侧。需要说明的是，前后振动的变化量A4为－5以下，滚筒2的前后振动减少。因此，将左右/上下振动的变化量A2与前后振动的变化量A4进行对比，判定是否将注水位置变为相反侧。即，根据左右/上下振动的变化量A2与前后振动的变化量A4的关系来判定是否将注水位置变为相反侧。
(条件2)：
在左右/上下振动的平均值A1为100以上且左右/上下振动的变化量A2为5以上且前后振动的变化量A4为－5以下的情况下，确定要进行将注水位置变为相反侧的控制。
在满足(条件2)的情况下，虽然左右/上下振动的平均值A1比较大，左右/上下振动的变化量A2不大，但是由于滚筒2的左右/上下振动会增加，因此注水位置变为相反侧。需要说明的是，前后振动的变化量A4为－5以下，滚筒2的前后振动减少。因此，将左右/上下振动的变化量A2与前后振动的变化量A4进行对比，判定是否将注水位置变为相反侧。即，根据左右/上下振动的变化量A2与前后振动的变化量A4的关系来判定是否将注水位置变为相反侧。
(条件3)：
在左右/上下振动的变化量A2为0以上的情况下，确定要进行停止注水的控制。
在满足(条件3)的情况下，由于左右/上下振动的变化量A2为0以上，滚筒2的左右/上下振动会增加，因此停止注水。
(条件4)：
在前后振动的平均值A3为150以上且前后振动的变化量A4为10以上的情况下，确定要进行停止注水的控制。
在满足(条件4)的情况下，由于前后振动的平均值A3大且前后振动的变化量A4为10以上，滚筒2的前后振动会增加，因此停止注水。
需要说明的是，判定表按照从条件1到条件4的顺序来判定。在不符合条件1～4中的任一项的情况下，以不改变注水位置的方式继续注水处理。
脱水过程中，在滚筒2的转速为450～500rpm的情况下，适用图23的判定表。
(条件1)：
在左右/上下振动的平均值A1小于200且左右/上下振动的变化量A2为20以上且前后振动的变化量A4为－10以下的情况下，确定要作出将注水位置变为相反侧的应对。
(条件2)：
在左右/上下振动的平均值A1为200以上且左右/上下振动的变化量A2为10以上且前后振动的变化量A4为－10以下的情况下，确定要作出将注水位置变为相反侧的应对。
(条件3)：
在左右/上下振动的变化量A2为0以上的情况下，确定要作出停止注水的应对。
(条件4)：
在前后振动的平均值A3为300以上且前后振动的变化量A4为20以上的情况下，确定要作出停止注水的应对。
需要说明的是，判定表按照从条件1到条件4的顺序来判定。在不符合条件1～4中的任一项的情况下，以不改变注水位置的方式继续注水处理。
如上所述，图22和图23的判定表的阈值随着脱水过程中的滚筒2的转速而变化。例如，在滚筒2的转速从250rpm增加到500rpm的情况下，假设振幅相同，则500rpm时的加速度是250rpm时的四倍。通常来说，在滚筒2的转速上升的情况下振幅难以相同，因此若将500rpm时的振幅设为250rpm时的振幅的1/2则加速度变为两倍，考虑到上述情况来设定图22和图23的判定表的条 件1～4的阈值。
本实施方式的洗衣机1具备：有底筒状的滚筒2，设置为能绕水平方向或倾斜方向延伸的轴线旋转；多个中空的提升筋7，沿滚筒2的轴线方向配设于滚筒2的内周面；注水装置1c，用于向各个提升筋7注水；作为加速度检测单元的加速度传感器12，检测滚筒2的振动；作为滚筒位置检测装置的接近开关14，响应于滚筒2的旋转而发送脉冲信号；作为偏心检测单元的不平衡量检测部35和不平衡位置检测部36，检测滚筒2内的偏心量和偏心位置；以及作为控制单元的中央控制部31，当脱水过程中偏心量(M)达到规定的注水用偏心量阈值(mb)时，控制注水装置1c向与偏心位置对应的提升筋7注水，在滚筒2的振动状态为对置偏心负荷状态的情况下，中央控制部31控制注水装置1c，基于由加速度传感器12检测到的对应于滚筒2的振动的加速度数据的变化量，停止向提升筋7注水，或者使被注水的提升筋7变为不同的提升筋7。
由此，根据本实施方式的洗衣机1，能在滚筒2的不平衡状态为对置偏心负荷状态的情况下，基于对应于滚筒2的振动的加速度数据的变化量，停止向提升筋7注水，或者控制注水装置1c使被注水的提升筋7变为不同的提升筋7，从而将滚筒2的振动状态控制为最佳振动状态。
本实施方式的洗衣机1中，作为控制单元的中央控制部31基于加速度数据与脉冲信号的关系性判定滚筒2的振动状态为对置偏心负荷状态，其中，加速度数据是由作为加速度检测单元的加速度传感器12检测到的对应于滚筒2的振动的数据，脉冲信号是由加速度数据和作为滚筒位置检测装置的接近开关14检测到的信号。
由此，根据本发明，能基于对应于滚筒2的振动的加速度数据、以及加速度数据与响应于滚筒2的旋转的脉冲信号的关系性，容易地检测到滚筒2的振动状态为对置偏心负荷状态。
本实施方式的洗衣机1中，作为加速度检测单元的加速度传感器12包括检测滚筒2的左右方向、上下方向以及前后方向的加速度的加速度传感器，加速度传感器12配置于滚筒2的前端侧。
由此，根据本发明，能通过一个加速度传感器12检测滚筒2的振动状态。
本实施方式的洗衣机1中，作为控制单元的中央控制部31基于滚筒2的左右方向或上下方向的加速度数据的变化量和滚筒2的前后方向的加速度数据的变化量，来控制注水装置1c。
由此，根据本实施方式的洗衣机1，能高精度地将滚筒2的振动状态控制为最佳振动状态。
本实施方式的洗衣机1中，关于滚筒2的左右方向或上下方向的加速度数据的变化量的阈值、以及关于滚筒2的前后方向的加速度数据的变化量的阈值根据滚筒2的转速而不同。
由此，根据本实施方式的洗衣机1，能根据滚筒2的转速，将滚筒2的振动状态控制为最佳振动状态。
本实施方式的洗衣机1中，作为控制单元的中央控制部31控制注水装置1c，使滚筒2的左右方向和上下方向的加速度数据的变化量优先于滚筒2的前后方向的加速度数据的变化量。
由此，根据本实施方式的洗衣机1，能降低洗衣机1的框架振动，并且能降低滚筒轴承部的负担。
以上，对本发明的实施方式进行了说明，但本实施方式的结构不局限于上述的实施方式，可以进行各种变形。
虽然在上述实施方式中配置有一个能检测左右方向、上下方向以及前后方向的加速度的三轴加速度传感器12来作为加速度检测单元，但不局限于此。因此，本发明的加速度检测单元可以包括检测滚筒2的前端侧的左右方向和上下方向这两个方向的加速度的加速度传感器、以及检测滚筒2的后端侧的左右方向和上下方向这两个方向的加速度的加速度传感器。
如图24所示，本发明的变形例的洗衣机101作为加速度检测单元，可以具备配置于滚筒2的前端侧的加速度传感器112a和配置于滚筒2的后端侧的加速度传感器112b。加速度传感器112a和加速度传感器112b为分别检测滚筒2的左右方向和上下方向这两个方向的加速度的加速度传感器。
本变形例的洗衣机101中，在滚筒2的偏心位置为对置偏心负荷状态的情况下，根据由加速度传感器112a、112b检测到的加速度数据(MX、MZ)，根 据滚筒的振动状态来进行注水控制判定。
(根据滚筒的振动状态判定注水控制)
根据图25对步骤SP167所示的注水控制判定进行说明。图25是表示注水控制判定处理的顺序的流程图。
步骤SP167中，与上述实施方式的步骤SP67相同，在步骤SP66中判定滚筒2的不平衡状态为对置偏心负荷状态之后，中央控制部31根据滚筒2的振动状态，判定是要改变注水位置，还是要停止注水，还是要继续注水。
＜步骤SP1671＞
步骤SP1671中，中央控制部31测量滚筒2的前端侧的左右/上下振动的平均值A1，即测量滚筒2的前端侧的X方向的加速度数据MX与Z方向的加速度数据MZ的平均值A1。
＜步骤SP1672＞
步骤SP1672中，中央控制部31测量滚筒2的前端侧的左右/上下振动的平均值A1的1秒之间的变化量A2。
＜步骤SP1673＞
步骤SP1673中，中央控制部31测量滚筒2的后端侧的左右/上下振动的平均值A3，即测量滚筒2的后端侧的X方向的加速度数据MX与Z方向的加速度数据MZ的平均值A3。
＜步骤SP1674＞
步骤SP1674中，中央控制部31测量滚筒2的后端侧的左右/上下振动的平均值A3的1秒之间的变化量A4。
＜步骤SP1675＞
步骤SP1675中，中央控制部31根据滚筒2的前端侧的左右/上下振动的平均值A1、平均值A1的1秒之间的变化量A2、滚筒2的后端侧的左右/上下振动的平均值A3、平均值A3的1秒之间的变化量A4以及判定表，判定是要改变注水位置，还是要停止注水处理，还是要继续注水。
洗衣机101中，滚筒2的转速为200～250rpm时的判定表和滚筒2的转速为450～500rpm时的判定表使用与上述实施方式的洗衣机1(图22和图23)相同的判定表。
本变形例的洗衣机101中，作为加速度检测单元的加速度传感器112a、112b是两个分别检测滚筒2的左右方向、上下方向以及前后方向中的两个方向的加速度的加速度传感器，两个加速度传感器112a、112b分别配置于滚筒2的前端侧和后端侧。
由此，采用本变形例的洗衣机101，能高精度地检测滚筒2的振动状态。
在本变形例的洗衣机101中，作为控制单元的中央控制部31基于滚筒2的前端侧的左右方向或上下方向的加速度数据的变化量和滚筒2的后端侧的左右方向或上下方向的加速度数据的变化量，来控制注水装置1c。
由此，采用本变形例的洗衣机101，能高精度地将滚筒的振动状态控制为最佳振动状态。
本变形例的洗衣机101中，关于滚筒2的前端侧的左右方向或上下方向的加速度数据的变化量的阈值、以及关于滚筒2的后端侧的左右方向或上下方向的加速度数据的变化量的阈值根据滚筒2的转速而不同。
由此，采用本变形例的洗衣机101，能根据滚筒2的转速，将滚筒2的振动状态控制为最佳振动状态。
本变形例的洗衣机101中，作为控制单元的中央控制部31控制注水装置1c，使通过配置在滚筒2的前端侧的加速度传感器112a检测到的加速度数据的变化量优先于通过配置在滚筒2的后端侧的加速度传感器112b检测到的加速度数据的变化量。
由此，采用本变形例的洗衣机101，能降低洗衣机101的框架振动，并且能降低滚筒轴承部的负担。
本发明的加速度检测单元只要能检测滚筒2的前端侧的上下方向、左右方向、前后方向中的任意两个方向的加速度并且能检测滚筒2的后端侧的上下方向、左右方向、前后方向中的任意两个方向的加速度，就能得到本发明的效果。
虽然上述实施方式中公开了作为洗衣机1将本发明应用于适合用作家庭用的所谓的倾斜滚筒式全自动洗衣机中的例子，但是，广泛地适用于自助洗衣店铺的卧式洗干一体机当然也能适用本发明的控制方法。
虽然上述实施方式中公开了设置有三个提升筋7的方案，但是，当然也可以采用具备四个以上提升筋7的结构。而且，当然，提升筋7并不一定需要在滚筒2的周向上等角度间隔地配置，并且也不需要各自为相同的形状。
其他的结构也可以在不脱离本发明的技术精神的范围内进行各种变形。

Claims (10)

  1. 一种洗衣机，其特征在于，具备：
    有底筒状的滚筒，设置为能绕水平方向或倾斜方向延伸的轴线旋转；
    多个中空的提升筋，沿所述滚筒的轴线方向配设于所述滚筒的内周面；
    注水装置，用于向各个所述提升筋注水；
    加速度检测单元，检测所述滚筒的振动；
    滚筒位置检测装置，响应于所述滚筒的旋转而发送脉冲信号；
    偏心检测单元，检测所述滚筒内的偏心量和偏心位置；以及
    控制单元，当脱水过程中偏心量达到规定的注水用偏心量阈值时，控制所述注水装置向与偏心位置对应的所述提升筋注水，
    在所述滚筒的振动状态为对置偏心负荷状态的情况下，所述控制单元控制所述注水装置，基于由所述加速度检测单元检测到的对应于所述滚筒的振动的加速度数据的变化量，停止向所述提升筋注水，或者使被注水的所述提升筋变为不同的提升筋。
  2. 根据权利要求1所述的洗衣机，其特征在于，所述控制单元基于加速度数据与脉冲信号的关系性判定所述滚筒的振动状态为对置偏心负荷状态，其中，加速度数据是由所述加速度检测单元检测到的对应于所述滚筒的振动的数据，脉冲信号是由所述加速度数据和所述滚筒位置检测装置检测到的信号。
  3. 根据权利要求1或2所述的洗衣机，其特征在于，所述加速度检测单元包括检测滚筒的左右方向、上下方向以及前后方向的加速度的加速度传感器，所述加速度传感器配置于所述滚筒的前端侧。
  4. 根据权利要求1～3中任一项所述的洗衣机，其特征在于，所述控制单元基于所述滚筒的左右方向或上下方向的加速度数据的变化量和所述滚筒的前后方向的加速度数据的变化量，来控制所述注水装置。
  5. 根据权利要求4所述的洗衣机，其特征在于，关于所述滚筒的左右方向或上下方向的加速度数据的变化量的阈值、以及关于所述滚筒的前后方向的加 速度数据的变化量的阈值根据所述滚筒的转速而不同。
  6. 根据权利要求4或5所述的洗衣机，其特征在于，所述控制单元控制所述注水装置，使所述滚筒的左右方向和上下方向的加速度数据的变化量优先于所述滚筒的前后方向的加速度数据的变化量。
  7. 根据权利要求1所述的洗衣机，其特征在于，所述加速度检测单元包括两个检测滚筒的左右方向和上下方向这两个方向的加速度的加速度传感器，所述两个加速度传感器分别配置于所述滚筒的前端侧和后端侧。
  8. 根据权利要求7所述的洗衣机，其特征在于，所述控制单元基于所述滚筒的前端侧的左右方向或上下方向的加速度数据的变化量和所述滚筒的后端侧的左右方向或上下方向的加速度数据的变化量，来控制所述注水装置。
  9. 根据权利要求8所述的洗衣机，其特征在于，关于所述滚筒的前端侧的左右方向或上下方向的加速度数据的变化量的阈值、以及关于所述滚筒的后端侧的左右方向或上下方向的加速度数据的变化量的阈值根据所述滚筒的转速而不同。
  10. 根据权利要求8或9所述的洗衣机，其特征在于，所述控制单元控制所述注水装置，使通过配置在所述滚筒的前端侧的所述加速度传感器检测到的加速度数据的变化量优先于通过配置在所述滚筒的后端侧的所述加速度传感器检测到的加速度数据的变化量。
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